| With the continuous development of industrial information and intelligence era,the development of industrial robot technology has become an important driving force for the sustainable development of industrial technology in China.In the actual industrial production operations,the work efficiency of the robot is constantly mentioned.It is no longer simply to purse its accurate and smooth realization of the specified task,but also requires that its working time can be shortened as much as possible.From this,it can be found that the research work on time optimization in the trajectory planning of industrial robots is of great significance to the practical engineering application and the further development of trajectory planning technology.Therefore,in this paper,the six degree of freedom PUMA560 industrial robot is selected as the analysis object,and based on the constraints of kinematic variables and time optimization,the time optimization planning task of its point-to-point trajectory is carried out.It is expected to provide a continuous,smooth,safe and stable time optimal planning scheme for the research of industrial robot trajectory planning from point to point.The specific research work is as follows:(1)This paper introduces the kinematics mathematical foundation of industrial robot,such as spatial point and pose,coordinate transformation,homogeneous coordinate transformation and so on.On this basis,using the improved D-H parameter method and algebra solution,this paper discusses and analyzes the problems related to the link structure and kinematics of PUMA560 robot,and establishes the corresponding mathematical model.Finally,with the help of MATLAB and robotics toolbox,the mathematical model,mechanical structure model and the normal working space of the robot are realized.The simulation results verify the correctness of the model,and simulate the workspace correctly.(2)This paper analyzes the basic trajectory planning algorithms of different trajectory planning spaces,mainly introduces the interpolation algorithms of lines,arcs,polynomials,B-splines,and discusses the advantages and disadvantages of different interpolation algorithms.Based on this,a 4-5-4 polynomial hybrid interpolation algorithm is proposed,and its construction principle,algorithm requirements and implementation method are analyzed.Finally,with the help of MATLAB,the test and comparative analysis of the improved algorithm are completed,and the results prove its correctness,controllability and superiority.(3)In view of the problem that the standard PSO optimization algorithm is easy to fall into the local optimum and difficult to obtain the global optimum solution,an improved scheme combining the standard PSO optimization algorithm with the natural selection mechanism and the adaptive weight factor is proposed.Three groups of different test functions,sphere,Rastrigin and Griewank,are tested by using standard PSO,hybrid PSO(BreedPSO),simulated annealing PSO(SimuAPSO)and improved PSO.The test results prove the correctness and superiority of the improved scheme.(4)Based on the above research,a scheme is proposed to combine the improved PSO optimization algorithm with the 4-5-4 polynomial hybrid interpolation algorithm,and the constraint information of the relevant variables such as the angle,speed and acceleration of the joint operation is taken as the limiting condition to complete the optimal trajectory planning of the industrial robot between the point to point.Finally,simulation experiments are used to verify the correctness of the trajectory planning scheme proposed in this paper,and the running time can be significantly shortened,that is to achieve high efficiency. |
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