| Since the 1960 s,people began to focus on robot research and development,and achieved fruitful results.At present,some industrial robots have been able to complete welding,assembly and other work,so as to be applied to national defense,manufacturing and other fields,play an irreplaceable role.Robotics engineering involves a wide range of disciplines,including control theory in addition to the most important electronic and mechanical technologies.This paper centers on the prototype of 5R（rotation pair）grasping industrial robot in industrial automation,and illustrates the exploratory comprehensive research on the working principles of the robot,such as kinematics,trajectory planning,mechanism composition,control system and communication system,based on designing and building a physical verification platform.The main research work of this paper is as follows:（1）Kinematic Analysis of 5R Industrial RobotTake the industrial 5R robot as the research prototype,construct the connecting rod coordinate system of the robot by the improved D-H method,to deduce its forward and inverse kinematics formula and carry on the analysis and solution.（2）Research on MATLAB simulation trajectory planning of 5R industrial robotThe trajectory planning of 5R industrial robot is completed through the robot toolbox in MATLAB software.Firstly,the conventional trajectory planning in Cartesian space and joint space are studied respectively;Then,considering the shortcomings of cubic spline interpolation and quintic spline interpolation in joint space,we use 3-5-3 spline interpolation to fit the robot trajectory,and an improved genetic algorithm to optimize the interpolation time of 3-5-3 spline interpolation to solve the time optimal trajectory planning under the constraint of velocity.The results show that the method is effective and feasible.It provides a solution to the time optimal trajectory planning of industrial robot.（3）Design for the experimental platform of 5R industrial robotAnalyze the actual needs of the subject design,and identify the functions to be developed for the 5R industrial robot experimental platform.The design is divided into: 1)Mechanical structure construction 2)control system hardware circuit design and electronic component selection 3)control system software design.Finally,a robot control experimental platform based on STM32F407 embedded microcontroller is developed.（4）Software system development of robot experiment platformWe use Keil5 MDK software C language program to develop the software of the robot control system.The forward and inverse kinematics analysis is reflected on the hardware experimental platform through the form of software development,and a PC upper computer monitoring software is designed and developed with Visual Studio software C# language to realize the real-time communication control between the computer and the robot experimental platform.Experiments show that the whole system has stable operation,fast response speed and accurate positioning,and can enable trajectory planning and many complex operation applications. |
