Research On Trajectory Planning And Voiceprint Control Of Six-axis Industrial Robot

With the rapid development of intelligent manufacturing industry in China,the manual work of traditional manufacturing enterprises can no longer meet the current production demand.More and more enterprises choose industrial robots instead of labor to improve production efficiency and quality.Aiming at the hot spots and difficulties of motion trajectory planning and voiceprint control in the application of industrial robots,the paper proposes a geometric-based inverse motion algorithm for six-axis industrial robots and applies it to trajectory planning,which realizes the consideration of safety and intelligence.The voiceprint recognition and voice control industrial robot system has achieved good research and application results.The specific research work and results are followed as below:(1)According to the deficiency of inverse kinematics algorithm of industrial robot,a new inverse kinematics algorithm based on geometry is proposed according to the requirements and characteristics of six-axis industrial robot and specific application domain.Combined with the characteristics and requirements of the six-axis industrial robot in the high-precision machining production domain,the algorithm solidifies the motion direction of the fourth axis and the sixth axis,and then makes the inverse kinematics analysis of the remaining four axes by geometry.The solution process is greatly simplified,easy to understand and greatly reduced compared with the traditional numerical method,so it can be realized in the conventional or even low matching computing environment.Combined with the inverse kinematics model,a simple and effective trajectory planning algorithm for six-axis industrial robots is proposed,which effectively solves the problems of vibration and serpentine motion caused by the different time of each axis to reach the target point or the sharp change of each joint,and realizes the continuous uniform motion at the end.(2)A SE-B-Res Net-50-based voiceprint recognition model is proposed to meet the needs of industrial robots in safety and intelligence.The model is based on Res Net-50,By improving the network structure and parameters and combing with Squeeze-andExcitation Net,the accuracy of voiceprint recognition is significantly improved without significant change in recognition speed.The recognition accuracy is over 97% of the total.(3)According to the application requirements of industrial robots,combined with the above research results of voiceprint recognition model and trajectory planning algorithm,an advanced six-axis industrial robot voiceprint control system is designed and implemented.The feasibility and effectiveness of the system in industrial production are verified by taking the SRE12-1450 robot as an example.The system has good practicability for six-axis industrial robot in high precision machining production scene.