Research On Simplification Of B-spline Calculation And Time Optimization Algorithm For Industrial Robot Trajectory Planning

“Made in China 2025” and “Industry 4.0” indicate that the intelligent demand in the industrial field will be in a substantial increase.Industrial automation devices,intelligent terminals,industrial robot arms and other products will have a broad market space.In specific industrial applications,the functional requirements of industrial robotic arms are mainly concentrated on palletizing,welding or attaching tools to the terminal to perform specific tasks.Before completing some tasks,reasonable trajectory planning is indispensable for joint motors.Then if we want to improve the efficiency of the work,it is necessary to improve the speed of the trajectory.In view of the above problems,the motion planning of the industry robot in this dissertation is studied.This research lays a foundation for the overall control of the industrial robot.There is no unified inverse solution formula for mechanical arms with different structures,and the numerical methods for inverse solutions is time-consuming,so it is not suitable for applications with high real-time requirements.The orthogonality of the coordinate transformation matrix and the characteristics of the trigonometric function are used to obtain the analytical solution of the mechanical arm.The analytical solution improves the efficiency and stability of the inverse solution.For the problem that the mechanical wear causes the structure to deviate from the spherical wrist,a numerical solution is prepared to ensure the accuracy of the inverse solution.After completing the traditional robotic trajectory planning,B-spline are used to complete the planning of the free-curve path.The trajectory length is solved by transforming into a multi-segment cubic polynomial curve,and the trajectory is interpolated by the fourth-order R-K method combined with the Adams method.For the path on the Cartesian space,considering the speed and torque limits of the joint motors,the maximum acceleration of each interpolation point on the path is obtained by using the dynamic equation.After Finding the characteristic points,the numerical integration is performed from the characteristic points of the limit speed curve to obtain the time optimal trajectory planning for the path.