Research On Forward Control Algorithm Of Six Degree Of Freedom Series Manipulator

In recent years,the rapid development of industrial intelligent manufacturing has greatly promoted the modern industry.As a key carrier in the field of industrial manufacturing,tandem robotic arms are playing an increasingly important role in the aerospace,automotive and other manufacturing fields.Although foreign robot technology is quite mature,there are still some deficiencies in the research of tandem manipulator motion control algorithms in China,which is still a long way from practical engineering applications.In order to meet the needs of high-speed and high-precision movements,this paper conducts research from four aspects:corner smoothing,singular shape avoidance,pose look-ahead,and speed synchronization planning.A set of movements that meet the practical application of pose and look-ahead and speed synchronization planning are proposed.The control algorithm can guarantee high running efficiency and trajectory accuracy.In the whole motion planning process,trajectory planning is the premise of robot movement,and kinematic modeling is the basis.In this paper,the Elfin robot is used as a prototype for kinematics modeling.The trajectory smoothing selects an arc that is simple to operate and meets the speed continuity as the local corner smoothing curve.A transition model is established for each possible path,and the possible paths may be determined.The singularity is reduced in speed when approaching the singularity,and the singularity is passed smoothly in joint space.The feasibility of the two algorithms is verified by experiments.In the look-ahead part of the robot speed,the speed constraint conditions at the joints of line segments are analyzed and a constraint model is established.This paper analyzes the improper calculation of pose velocity constraints during look-ahead and prevents the poses from moving synchronously.A synchronous look-ahead control strategy is proposed.Displacement constraints are added on the basis of the original speed model,and the end speed of this segment is appropriately adjusted to make the current segment pose planning The time is controlled within the same range,and the feasibility and efficiency of the algorithm are verified by a period of trajectoryAiming at the traditional acceleration and deceleration and cyclic error rounding methods that can't meet the requirements of pose synchronization planning,and the existing PVT algorithm is uncontrollable in the middle,a PVT speed planning algorithm is proposed.To lengthen and shorten the time arbitrarily,a variable period rounding method is adopted at the boundary of the motion limitation parameters,to ensure that the beginning and end speeds are not changed when a small number of motion parameters are exceeded,and the feasibility of the algorithm is verified by experiments.The robot motion control platform was built,and the whole algorithm was verified by milling trajectory.The experimental results show that the look-ahead control strategy and PVT speed planning strategy proposed in this paper can effectively plan the robot's position and attitude path,and improve the operating efficiency of the robot while meeting the motion limitation parameters.