Research On Trajectory Planning Of Industrial Manipulator With Six Degrees Of Freedom

With the continuous advancement of modern industrial production automation technology,the industrial manipulator is a kind of anthropomorphic robot with a high degree of automation and intelligence.It can meet the increasingly complex environment in industrial manufacturing and the accuracy and efficiency required for operation.Continuous improvement,more and more extensive applications in all walks of life.Therefore,this paper takes the Na Zhi MZ04 six-degree-of-freedom manipulator as the research object,and proposes an improved RRT?Connect(two-way extended and balanced connected double tree)algorithm,which improves the efficiency of path search and reduces planning time.For the intermediate point speed connection,an improved quartic S-shaped curve is proposed to reduce the impact of the intermediate point.The analysis,research and simulation of its kinematics and trajectory path are of great significance.The main research contents are as follows:(1)Use MATLAB Robotic Toolbox toolbox and DH method to establish a mathematical model of a six-degree-of-freedom manipulator,and find the analytical formula of its forward and inverse solution.According to the principle of “small joints with less movement,small joints with more movement”,Select the optimal solution,and further determine the unique solution of the inverse solution based on the shortest stroke of the manipulator.At the same time,MATLAB and Monte Carlo are used to analyze the reachable space of the manipulator,verify the correctness of the forward and inverse kinematics model,and establish a mathematical foundation for the study of the six-degree-of-freedom manipulator's path trajectory.(2)In order to study the obstacle avoidance of the six-degree-of-freedom industrial robot arm,in the collision situation between the robot arm and the object,the robot arm and the robot arm,firstly,the AABB(Axis-aligned bounding box)bounding box and the OBB(Oriented bounding box))The bounding box is analyzed and applied to the manipulator model in this paper,and its collision detection conditions are discussed.In VREP,the collision between the manipulator and the object,and the collision between the manipulator and the manipulator is verified.The improved RRT?Connect path planning algorithm is adopted to minimize the search time and provide a better obstacle avoidance path.After the improvement is verified by MATLAB simulation,although the search time,the number of nodes and the number of collisions will increase to a certain extent,the path length is longer than before the improvement The length of the path should be short,and the path to avoid obstacles is smoother than before the improvement,so that special situations such as singular points are reduced when the manipulator is moving,which lays the foundation for subsequent trajectory planning.(3)In order to smooth the trajectory of the six-degree-of-freedom manipulator arm and reduce the vibration and impact in the motion of the manipulator,the problem of sudden changes in the jerk in the fifth-order polynomial interpolation trajectory planning,resulting in impact and reduced accuracy of the manipulator,is proposed.When the speed of the intermediate node is connected,an improved quadratic S-shaped curve is used to connect the speed of the intermediate node,and NSGA-II(Non-Dominated Sorting Genetic Algorithm)is used to optimize the time and impact optimization,which is better applied The joint angle is used to reduce the impact and vibration during operation.After optimization,MATLAB verifies that the intermediate node greatly reduces the jerk mutation,reduces the impact,improves the accuracy,and extends the service life of the robotic arm.Finally,a six-degree-of-freedom manipulator simulation platform was built using MATLAB and VREP platform.Through the motion planning of the robot arm's grasping and unloading,it provides a simulation verification tool for the research and analysis of the manipulator,and improves the efficiency of the six-degree-of-freedom manipulator research and analysis.Verify that its algorithm and motion trajectory are feasible.