Research On Optimization Of Industrial Robot Trajectory Considering Dynamic Characteristics

With the acceleration of industrial production speed and the continuous improvement of the quality and technical requirements of large-scale production,the continuous running speed of industrial robots has become an important indicator to measure the robot's kinematic performance.The optimization of the trajectory of high-speed robots with the goal of shortest task completion time becomes The current research hotspots of relevant scholars.Due to the large weight and large load of the robotic arm of large and medium-sized robots,its dynamic problems are unavoidable during high-speed movements.Therefore,this paper proposes an optimization scheme for the trajectory of industrial robots combined with dynamics.The main contents are divided into the following parts.Mathematical modeling of industrial robots.Taking the STEP SA1400 robot as the research object,the mathematical model is established based on the modified DH parameter method,and the forward and inverse solution expressions of the robot's kinematics and Newton's Euler Dynamics formula are given.Based on the Viscous Coulomb F.riction model,the friction parameters are identified,and the influence of gravity and rotor inertia is comprehensively considered to improve the accuracy of the dynamic model.Finally,the accuracy of the mathematical model of the robot is verified by the dynamic torque feed-forward method.Trajectory planning combined with dynamics.On the basis of optimization,a five-degree B-spline is used as the joint trajectory model in the joint space.The robot trajectory planning scheme with the shortest working time as the target is considered considering the robot's joint speed,torque and terminal trajectory pose constraints.By comparing the performance of the three trajectory models under the optimization algorithm,the superiority of the B-spline is verified;points out that there are problems in the optimization constraints at present,a strategy that only uses joint velocity constraints is proposed,and trajectory bits are added according to the trajectory type Pose constraint strategy.Aiming at the problem that the power of some robot joint servo drives is too small,torque continuous overload time constraint strategy is proposed;in order to further improve the planning accuracy,an adaptive data point generation strategy is proposed to preprocess the trajectory.Finally,the performance of the proposed strategy is verified by experimental analysis.Hybrid optimization model.In this paper,a single optimization algorithm is difficult to obtain a global optimal solution,and a hybrid optimization scheme based on Genetic Algorithm(GA)and Sequential Quadratic Programming(SQP)optimization algorithm is proposed;the elite reservation adaptive to the population size is adopted Operators and mutation operators that are adaptive based on optimal individuals and boundary conditions,and heuristic crossover operators based on parental parental fitness improve the performance of the GA algorithm.Finally,by comparing the three optimization schemes,the performance of the hybrid optimization is verified.Experimental simulation and verification.The test platform adopts STEP SA1400 welding robot,the controller adopts the industrial robot motion control system developed by the laboratory based on KRMotion and adds trajectory following function,and the simulation software adopts Vrep.Experimental results show that the scheme proposed in this paper effectively improves the robot's movement speed and has good accuracy.