Robotic Arm Trajectory Planning And Control Research

With the rapid development of mechanical manufacturing intelligence and technology,mechanical arm with high efficiency,high production quality and other advantages is widely used in welding,handling,sorting and other life and production.Nowadays,in order to adapt to a variety of complex and special working environment,the requirements of the manipulator motion system are also higher and higher.Trajectory planning is one of the most important links in the manipulator motion system,and also the basis of motion control,which directly determines the working quality of the manipulator.Therefore,efficient and reliable trajectory planning can improve the stability of the whole motion system Yes.At present,the key and hot research of manipulator trajectory planning includes energy,time optimization,precision and vibration.In this paper,the trajectory planning of 6-DOF manipulator is studied,and the shortest time optimization is carried out.The specific research contents and research results of this paper are as follows:(1)This paper introduces the basic theory of the robot arm,takes the common industrial robot PUMA560 as the research object,according to the research needs of the paper,adopts the standard D-H method to establish the mathematical description and kinematics model of PUMA560 robot arm.The forward and inverse kinematics equations are derived from the mathematical model of the manipulator,and the forward and inverse kinematics of the manipulator are analyzed in detail.Then the space operation range of the manipulator is analyzed by Monte Carlo method to ensure that the manipulator works in the workspace.The simulation experiment is completed in MATLAB software,and the results show that the theory is correct and reliable.(2)The influence of different algorithms in Cartesian space and joint space on the motion performance of manipulator is studied.The application of high-order polynomial interpolation algorithm and B-spline interpolation algorithm in manipulator trajectory planning is analyzed in joint space.This paper focuses on the research and analysis of cubic uniform B-spline curve for the trajectory planning of6-DOF manipulator.Through the simulation results of MATLAB software,it can be obtained that whether the smoothness or continuity of the speed,acceleration and angular displacement of each joint can well avoid the vibration and impact in the process of manipulator movement.(3)In the problem of time optimal trajectory planning,the improved particle swarm optimization algorithm is used to shorten the motion time of the manipulator by increasing the speed and acceleration as much as possible under the kinematic constraints of the manipulator.In this paper,on the basis of the cubic uniform B-spline curve trajectory planning,the trajectory motion time function is constructed and used as the fitness function of the improved particle swarm optimization algorithm,Finally,the optimal time of the manipulator in the same trajectory is obtained,and the simulation experiment is carried out in MATLAB combined with the robot toolbox.The results show that the algorithm can greatly improve the efficiency of the manipulator,and the running time optimization is nearly 32%.(4)The experimental platform of 6-DOF manipulator control system is established,and the above theoretical research part is tested.The experimental results verify the effectiveness of the proposed algorithm.