Trajectory Planning And Milling Simulation Of UR10 6-DOF Manipulator

With the further development of intelligent manufacturing,manipulators are being used in large numbers in the field of intelligent manufacturing by virtue of their high flexibility and scalability.Trajectory planning as the most important part of the manipulator motion control,in order to meet the high quality of the actual production needs,the manipulator trajectory planning is particularly important,efficient trajectory planning can make the entire manipulator performance can be improved.In this paper,the UR10 6-dof manipulator is studied for the trajectory planning problem,the timeoptimal problem and the trajectory planning simulation of the manipulator as follows.(1)Based on the theoretical knowledge of the manipulator,the D-H parameter table of the UR10 manipulator is constructed,the model of the UR10 manipulator is established,and the correctness of the kinematic formula is verified through simulation,and the working space of the manipulator is studied.(2)Under the Cartesian space and joint space,the effects of different algorithms on the motion performance of the manipulator are studied separately.Based on the UR10 manipulator model established in this paper,simulations are carried out in MATALB to analyze and summarize the characteristics of each simulation curve,focusing on the comparison of each curve trajectory planning algorithm,and it is found that the five times uniform B-spline curve trajectory planning algorithm has better results in both smoothing continuity and anti-impact vibration.(3)In order to find the optimal solution for each joint of the manipulator,the speed and time fitness functions are constructed according to the principle of improved particle swarm algorithm,and the switching control of these two fitness functions is used for time trajectory optimization.Simulations were performed with the help of MATLAB to obtain the graphs of each joint after time optimization and the time optimization data of the algorithm before and after the improvement.(4)The simulation platform of UR10 6-dof manipulator is built in V-REP,and MATLAB is used to control V-REP to realize the simulation of both,so as to obtain the ideal surface trajectory,and the feasibility of the milling simulation is verified by experimenting the manipulator milling.