Research On Multi-degree-of-freedom Robot Pose Trajectory Planning

Industrial robot is an important symbol to measure a countrys science and technology level and manufacturing level.It is also a strategic emerging industry which China is striving to develop at present.Because the study of industrial robots in China starts relatively late,it's still fall behind the developed countries both from the manufacturing level and application level,so constantly efforts for research is still necessary.Position and posture trajectory planning is an important aspect in industrial robot application,which plays an important role in reducing teaching workload,improving task accuracy and optimizing operation time.In this paper,the Cyton Gamma300 serial industrial robot with seven degrees of freedom is chosen to be as the research object.The following work for the research of position and posture trajectory planning is carried out through a combination of theoretical research and simulation verification:The kinematics model of robot and corresponding kinematic equations is constructed and the inverse kinematics algorithm for industrial robot with seven degrees of freedom based on adaptive genetic algorithm is designed.Based on the positive and inverse solutions of kinematics equations,the robot's position and posture trajectory planning method is studied.In the research of position trajectory planning,spatial straight line trajectory and circular-arc trajectory were selected as the target trajectory,researching their respective interpolation method.To avoid the impact and vibration caused by the speed step of the end effector in the start-stop phase,using the sine-shape acceleration and deceleration control strategy to control the speed of the whole movement process.In this paper,quaternions is used to describe the posture of the end executor,and the trajectory planning method combining the spherical linear interpolation of unit quaternion and sine-shape acceleration and deceleration control strategy is studied.Then,the synchronous processing method for position and posture trajectory planning is designed,and obtaining the trajectory planning algorithm based on sine-shape acceleration and deceleration control algorithm in Cartesian space.The method of joint space trajectory planning is analyzed,and the application of cubic b-spline curves in the smooth treatment of joint trajectories is studied.Finally,simulation and analysis of each algorithm are carried out in matlab environment.Results show that the algorithm can help the movement trajectory of the end executor continuous and smooth,changes of position and posture comply with sine deceleration control strategy target and each joint runs smoothly.In this paper,theoretical research and simulation verification are carried out on the position and posture trajectory planning algorithm of industrial serial robot with seven degrees of freedom,providing the serial seven degrees of freedom industrial robot with a set of effective solutions for trajectory planning.