| Industrial robots have been one of the most important forces in modern industrial system.Many developed countries of manufacturing industry have listed robotics in hi-tech research development plan.However,as a developing country,China is far behind with western developed countries on both technical development and market scale of industrial robots.It is extremely urgent for China to develop robotics with independent intellectual property rights.This paper uses 6-DOF serial industrial robot as researched object,mainly emphasizing on the structure and the montion planning.Firstly,localize the physical prototype and fix problems caused by the process.And optimize the wiring way of elbow.Also lighten the first arm and modify the second arm and wrist,and inertia need to be checked after all above are done.Secondly,the mechanical model is abstracted into mathematic model with D-H parameters,based on which normal and inverse solutions of kinematics are deduced.And algorithms of manual teaching are given.Motion trajectories of the robot are also researched and parametric expression of usual trajectories like line,arc and B-spline are deduced.Then,further the study by taking velocity into consideration.Analyze and design the time function,which can be mapped to joint velocity by using the Jacobian matrix built.And Lagrangian dynamics method connects the torques of joints with the motion behavior,which will stabilize the operation and improve accuracy.Finally,we explored the feasibility of applying intellectual control technology to robotics.Automatic welding simulation experiment is conducted with fuzzy system under the environment of MATLAB.By comparing the dexterity of the robot after and before,it is quite convincing that intellectual control technology has great prospect in robotics. |
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