Jerk-Optimal Trajectory Planning Of Arc Welding Robot

The running accuracy and working efficiency of industrial robots and the low impact running of robots are important research directions of robots.In this paper,the robot singularity is avoided,the joint friction is compensated,and the trajectory planning algorithm is studied from the joint space of the robot,so as to reduce the impact in the operation of the robot and improve the operation accuracy.Aiming at the complex parameters and slow operation speed of the D-H method for robot kinematics modeling,this paper adopts quaternion method for kinematics modeling,which simplifies model parameters and is faster in the operation of inverse kinematics solutions.Aiming at the singularity of robot,an improved singularity avoidance algorithm is proposed in this paper,which avoids the speed mutation of robot passing through the singularity region,reduces the impact of passing through the singularity region,and ensures the stability and high precision of operation.In view of the joints,the influence of friction on the robot joint movement tracking accuracy,based on the measurement of joint friction analysis model based on Stribeck has set up a joint friction and joint friction model of speed,load torque,with genetic algorithm for parameter identification,and carried out the friction compensation control simulation analysis.the robot has good tracking performance at low speed running,also improve the accuracy of the robot.The impact optimal trajectory planning of the six-Dof series robot based on welding application is carried out under the conditions of limited driving torque,velocity,acceleration and jerk of each joint.In the joint space,the five-degree polynomial interpolation algorithm is used to design the point-to point motion of each joint,and the interval maximum entropy function algorithm is used to find the jerk-optimal trajectory.The simulation analysis proves that the trajectory can reduce the impact of the robot on each joint and improve the trajectory accuracy of the robot.The planning algorithm is verified experimentally on the serial robot,which proves that the planning algorithm proposed in this paper can reduce the impact of the robot and improve the running stability.The correctness of the dynamic model is verified.