Research On Kinematics And Trajectory Planning Of Industrial Robots

With the rapid development of the robot industry in recent years,Industrial robots have gradually taken the place of human workers in a variety of situations,This puts forward the higher request to the industrial robot's trajectory planning.Besides the traditional PTP and CP motion control,the efficiency,energy consumption and smoothness of the trajectory should taken into considered also.Therefore,this paper made a further study on trajectory planning of industrial robots and proposed a multi-objective optimal trajectory planning algorithm with efficiency and smoothness as the objectives.MATLAB software is used for simulation to verify the effectiveness of the algorithm.Firstly,the kinematics of industrial robots is studied in this paper,which is a necessary preparation for trajectory planning.In this paper,how to solute the forward kinematics and inverse kinematics problems is studied also.An improved genetic algorithm is proposed to solve inverse kinematics problems and MATLAB software is used to simulate that inverse kinematics problems solving of PUMA560 industrial robot.The effectiveness of the algorithm is verified by simulation.Secondly,the research status of trajectory planning at home and abroad is analyzed in this paper.The advantages and disadvantages of b-spline curve trajectory planning and s-spline curve trajectory planning in joint space and cartesian space are studied,and examples of some of these type of trajectory planning is given.Finally,in order to improve operating efficiency and reduce mechanical vibration of manipulators,quintic non-uniform rational b-spline curve(NURBS)is used to construct the trajectory of manipulators which first derivative and second derivative can be defined in joint space.NSGA-II(Non-dominated Sorting Genetic Algorithm II)optimization algorithm is adopted to get Pareto optimal solutions under two objectives:high efficiency and low mechanical vibration.Simulation results of 6R manipulators trajectory planning showed that the trajectory which constructed from quintic non-uniform rational b-spline curve improved operating efficiency and reduces mechanical vibration,so that performance of manipulators operating is improved.