Seven-axis Collaborative Robot System Design And Motion Trajectory Planning Research

With the continuous improvement of China's economic strength and technological level,in order to further improve work efficiency,robots are widely used in the field of modernization.Collaborative robots have received extensive attention in recent years,especially in industries where the workload is large and the accuracy requirements are high.The purpose of this study is to design a seven-axis collaborative robot,which has higher flexibility,stability and control accuracy.This article modularizes the joint design of the seven-axis collaborative robot using the principle of three parallel axes,which meets the PIPPER rule and guarantees the robot's kinematic characteristics.The strength of the robot joints is checked to ensure the reliability of the design.At the same time,the robot controller is analyzed and studied.The trajectory planning process uses the master-slave control structure,CAN bus communication protocol and fuzzy adaptive PID joint drive closed-loop control to achieve The main controller controls the trajectory command mode.A three-dimensional model of a seven-axis collaborative robot was established,the robot kinematics was analyzed based on the screw theory,the robot forward kinematics equations were obtained,and the robot inverse kinematics was solved using geometric methods and pose separation methods.A robot trajectory planning algorithm combining ant colony algorithm and artificial potential field method is proposed.The artificial potential field method is used to increase the information concentration in the ant colony algorithm by using the virtual potential force to avoid the limitation of the ant colony algorithm's ability to find the path.The improved algorithm program is added to the simulink module,and the realization effect of the trajectory planning algorithm is verified through the robot model test.The algorithm accelerates the speed of the ant colony algorithm in solving the path,and improves the robot path planning ability.The experimental simulation model under the ROS environment of the robot operating system was established and the robot trajectory planning function package was configured to realize the configuration of the robot controller computing plug-in for improved ant colony algorithm.The Gazebo physical simulation platform constructed by the extended URDF(Unified Robot Description Format)file realizes the PID parameter adjustment of the robot controller,and achieves the OMPL(The Open Motion Planning Library)algorithm path planning of the robot and the control data observation and design of the 3D visualization platform.Experimental analysis results show that the designed robot control system and motion planning capabilities are effective.