Based On Energy Management Strategy To Research Trajectory Planning And Visualization Of Industrial Robot

With the great development of the robot and the energy intensive industry,how to reduce the energy consumption during the robot operation is the key to promote the upgrading of the industry.Based on the energy management strategy,it is of great significance to research the trajectory planning of robot and realize its virtual visualization.This project focuses on the robot ER7B-C10 with six degree of freedom.On the basis of studying the coordinate matrix transformation of its kinematics spatial attitude and establishing the forward and inverse kinematics analysis of its link coordinate system based on the D-H modeling method,the robot trajectory planning and visualization research based on energy management strategies are completed.In the research of robot trajectory planning based on energy management strategy,firstly,an improved dragonfly algorithm is proposed,which overcomes the defects of slow convergence speed,low solving precision,easy to fall into local minimum value and easy to appear precocious.Eight standard test functions were used for experimental verification.The experimental results show that the improved dragonfly algorithm has remarkable effects in convergence speed and optimization accuracy.In order to ensure high-precision control requirements,the fifth-degree B-spline curve is used to connect the key point sequence of the robot joint space.Secondly,based on the basis of dynamics,the robot trajectory energy management strategy is proposed.The robot trajectory energy management model is established.It is optimized and verified by the improved dragonfly algorithm.Finally,the simulation experiment is carried out on the virtual prototype of the ER7B-C10 robot model.The experimental results show that the curves of optimized trajectory for each joint,the velocity and the acceleration are continuous and without mutation.All these proves the effectiveness of the improved dragonfly algorithm.In the research of building robot virtual reality simulation system based on Unity3D development platform,firstly,the overall scheme of robot simulation system,and the simulation system function module of the robot visualization are elaborated.Secondly,the robot ER7B-C10 with six degree of freedom is loaded into the Unity3D development platform.The user interface,parameter setting and other modules are designed.Finally,based on the energy management strategy to research trajectory planning,the virtual reality simulation experiment of the robot ER7B-C10 with six degree of freedom is realized on the Unity3D development platform.The improved dragonfly algorithm is applied to realize robot trajectory planning which is based on energy management strategy.Unity3D virtual reality visualization platform has the advantages of strong interactivity and high development efficiency.Based on the energy management strategy to research trajectory planning,the virtual reality simulation system of the robot ER7B-C10 with six degree of freedom is set up.It not only is helpful to complete the instruction programming of the robot based on the strategy of optimizing the energy consumption,but also provides reference for different types of robots in this field.