Study On Motion Planning And Trajectory Tracking Control Of Six-axis Series Robot

With the successive launch of the "Made in China 2025" and the "13th Five-Year Plan" for the development of the robot industry,the robot industry has clearly been listed as one of the top ten core development areas in the country.Robots have gradually become the key driving points for China's economy to enter the stage of transformation and upgrading.Its R&D,manufacturing,and multi-domain applications are important indicators for measuring the level of a country's manufacturing industry and the ability of scientific and technological innovation.Although China has the largest robot market in the world,about 90% of our market share is firmly occupied by foreign robot companies,and domestic companies are generally in the initial development stage.The existing technology and manufacturing capabilities are not enough to cope with this competition.Therefore,it is of great theoretical significance and practical value to carry out the research on the planning and tracking of motion trajectory for the most widely used 6-axis series robot in robots.Taking the 6-axis series robot as the research object and aiming to get a good trajectory tracking curve,this paper has carried out systematic research work.The main research work and conclusions are summarized as follows:(1)The kinematics equation of 6-DOF series robot is established by DH parameter method,and the inverse kinematics analysis of the manipulator is carried out by separation variable method.In view of the multiple solution problem of kinematics inverse solution,the minimum stroke standard is used for inverse solution selection.The inverse solution of kinematics is the theoretical basis for trajectory planning of the robot arm.(2)A cubic polynomial interpolation method of the passing path point is used to plan the joint space trajectory of the series robot.The results show that the motion trajectory of each joint is smooth and continuous,and there is no vibration and impact.(3)The dynamic model of the robot is established by Lagrange method,and the theoretical numerical solution is carried out.The dynamic simulation model is established,and the multi-body dynamics simulation is carried out with the programmed trajectory as input.The results show that the theoretical solution is consistent with the variation of ADAMS simulation curve,which indicates the rationality of dynamic modeling,the integrity and feasibility of dynamic simulation also indicate that the virtual prototype model can be used for simulation verification in the subsequent trajectory tracking control research.(4)The overall architecture of six-axis tandem robot control system is established,the related hardware design is selected,and the software part is summarized.Based on the ADAMS virtual prototype model,MATLAB simulation model was established,and MATLAB/Simulink control scheme was established.The simulation study of trajectory tracking control was carried out.The results showed that the robot joint has better trajectory tracking characteristics.At the same time,the feasibility and effectiveness of the independent PD control strategy control robot system are also proved.It has certain reference and guiding significance for the control of robot prototype.