| With the continuous improvement of intelligence in the field of modern industry and manufacturing,it is more necessary for industrial robots to meet the needs of industrial upgrading with the characteristics of speed,efficiency and high precision.However,there are some problems in the installation and fault detection of industrial robots,such as low operating rate and poor positioning accuracy of end tools.In order to improve the robot's working efficiency and end positioning accuracy,the space trajectory planning and geometric parameter calibration of the robot are studied in this paper,which is mainly carried out from the following three parts.(1)The thesis,the component parameters of the puma-560 manipulator were modeled,and the d-h coordinate system of the connecting rod was established according to the parameters of the connecting rod of each joint.The kinematics equation of robot arm is established by D-H coordinate system.MATLAB software is used to analyze its kinematics,and the positive and inverse solution transformation matrix and jacobian matrix are solved to verify the correctness of the robot linkage model.(2)The thesis,the interpolation function of cubic B-spline trajectory planning in joint space is studied deeply,and the problem of optimal trajectory time in joint space is solved by using improved genetic algorithm.Polynomial interpolation algorithm in joint space analysis,improvement of b-spline trajectory planning algorithm and genetic algorithm,using MATLAB simulation on trajectory in joint space planning,compared the simulation results of each joint Angle,angular velocity and angular acceleration curve can be found that improving the cubic B spline interpolation algorithm is planning a joint speed trajectory more smooth,n o obvious mutation acceleration curve,can accurate and effective through the curve of a specified node.The trajectory planned by improved genetic algorithm can effectively improve the work efficiency within a task time cycle,which provides a guarantee f or the relatively high accuracy of manipulator operation tasks in engineering.(3)By robot end assembly industrial camera detected a posture of robot end actual coordinates in space,the posture of the robot controller in the data and the measured value bias,the constraint was established based on the combination of robot joint equation deviation,using the genetic algorithm under the constraint condition of the optimal geometric parameter values,calibration after a new geometric parameter drive control robot,the robot's end improve positioning accuracy,the method can the terminal positioning accuracy in industrial production task study provides effective basis. |
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