Simulation And Research On Motion Control Of Desktop Six-Axis Robot

In recent years,the proportion of collaborative robots in the robot market has been increasing year by year.Because of its own light weight,high flexibility,small operating space limitations,easy installation and deployment,easy programming and other advantages,collaborative robots have broad prospects for development in the fields of robot education and training,biomedicine,express delivery,intelligent services and other industries.The desktop six-axis robot studied in this paper is a kind of six-axis cooperative robot,therefore,the study of the motion control of the desktop six-axis robot is of great practical significance.The main contents of this topic are as follows:(1)The hardware control system is designed and built with PC,Hilscher board card,Arduino microcontroller,and the main body of the robot arm as the main structure.Complete the selection and design of some motors and drivers in the hardware system,using the Arduino microcontroller to control the motor gate signal,and complete the configuration of the Ether CAT communication protocol on the Hilscher board card.A brief overview of the functions of the MATLAB Robot Toolbox and Simulink simulation module.(2)The Denavit-Hartenberg method is used to establish the linkage coordinate system for the tabletop six-axis robot.The linkage parameters of the robot are obtained,and the kinematics model of the desktop six-axis robot is constructed.The forward and inverse solutions of the kinematics are solved respectively,and the basic principles of inverse solution selection are given.The validity of the kinematics algorithm was verified using MATLAB Robotics Toolbox.(3)Using a fusion polynomial S-shaped curve interpolation algorithm,which is easy to plan,the continuity of velocity during acceleration and deceleration period is guaranteed,and the smoothness of acceleration transfer is improved,achieved simultaneous six-axis interpolation planning in joint space.On this basis,the simultaneous linear interpolation and circular interpolation of the pose in Cartesian space are completed.(4)Based on the two methods of Lagrangian equation and Newton-Euler iterative equation,the dynamic model of the desktop six-axis robot is established,The joint position,velocity,and acceleration are known to calculate the torque required to drive the joint movement.In view of the limitations of traditional methods,a method for building a robot dynamic model based on automatic machine learning is proposed,and the validity of the traditional algorithm is verified by using MATLAB Robotics Toolbox.(5)In the simulation environment,the desktop six-axis robot is carried out the spot-motion experiment and the robot trajectory planning experiment,in which the trajectory planning experiment includes joint space interpolation and descartes space line and arc interpolation.The experimental results prove the feasibility of kinematics and trajectory planning algorithms.The dynamic model is established by using automatic machine learning method,and the error analysis of the model is carried out,and the results prove to meet the accuracy requirements.In the physical environment,the robot jog experiment and linear trajectory planning experiment were carried out,which proved the engineering practicability of the algorithm.