Research On Trajectory Planning Technologies Of 6-DOF Industrial Robot In Fixed Space

With the rapid development of intelligent manufacturing,industrial robot control technology has been gradually upgraded.The traditional six degree of freedom industrial robot teaching control method cannot meet the needs of industrial production.In order to make the robot adapt to the complex and changeable environment space and finish the established work smoothly and efficiently,this paper takes KUKA KR10 R1420 as the research model and MATLAB as the research platform to study the trajectory planning technology of 6-DOF Industrial Robot in fixed spaceFirstly,for the kinematics analysis of 6-DOF Industrial robot,the md-h modeling method is used to establish the robot kinematics model and sort out the parameters,and the forward and inverse kinematics algorithm of 6-DOF Industrial robot is further designed,and its correctness is verified by MATLAB.Secondly,for the motion path planning problem of 6-DOF Industrial robot,the cylindrical envelope method is used to envelope the robot,and the AABB method is used to envelope the obstacles.The three-dimensional grid workspace of the robot is established.The improved ant colony algorithm is used to solve the motion path of the robot,and its accuracy is verified by experiments.Then,aiming at the motion speed planning problem of 6-DOF Industrial robot,the accumulated chord length parameterization method is used to normalize the motion time of the robot,and then the non-uniform B-spline interpolation is used to verify its stability through experiments.Finally,the linear motion,circular motion and point-to-point obstacle avoidance motion of the robot are tested by MATLAB.The experimental results show that the proposed 6-DOF Industrial Robot Trajectory Planning Method in fixed space can meet the needs of the robot to run according to the given trajectory and avoid obstacles autonomously in the process of point-to-point motion in industrial production.The robot runs smoothly and effectively overcomes the impact,collision and other problems caused by the traditional teaching method.