Design Of Six-degree-of-freedom Cooperative Manipulator And Research Of Motion Control Algorithm

The traditional manufacturing industry is faced with the problem of how to transform to intelligent manufacturing,one of which is to meet the needs of flexible production.Due to the disadvantages of large size,complex programming and inconvenient installation,the traditional manipulator cannot be qualified for the work of short production cycle and rapid adjustment of equipment.Collaborative manipulator is developed in order to meet the needs of flexible production in the new era.And it is light and safe.Based on the actual demand,this paper designs a cooperative manipulator with a working radius of 1500 mm and a load of 20 kg at the end.This design can realize hollow routing,make the robot lighter and more concise,and meet the task requirements.Using improved DH method,the mathematical model of cooperative manipulator is established by using robot toolbox,and its forward kinematics matrix is solved.Based on Monte Carlo method,the position of the end of the cooperative manipulator is randomly generated,and an intuitive point cloud workspace diagram is formed.The univariate method is used to solve the relationship between the structural parameters of the cooperative manipulator and the workspace.In this paper,the inverse kinematics equation of cooperative manipulator is solved by matrix inverse variation method.but the algorithm has poor accuracy,low efficiency and instability in the inverse kinematics solution of the cooperative manipulator.Therefore,particle swarm optimization(PSO),an intelligent algorithm,is introduced to optimize the process of inverse solution.The algorithm considers the position and attitude of the end,and by improving the inertia weight parameters and introducing mutation operators,the algorithm can quickly and accurately search for the global optimal solution successfully,thus improving the precision and efficiency of solving inverse motion.Aiming at the six-degree-of-freedom cooperative manipulator designed in this paper,firstly,according to the trajectory requirements of the end,the space straight line and space arc are completed in Cartesian space,and the trajectory is obtained by interpolation calculation.Secondly,the trajectory planning of six joint variables of cooperative manipulator is carried out by polynomial interpolation.Finally,in view of the fact that polynomial interpolation algorithm can’t shorten the running time of the cooperative manipulator,genetic algorithm is selected to optimize the length of each period of the manipulator’s movement and improve the dynamic performance of crossover and mutation operators.MATLAB optimization simulation is carried out on six joints of the manipulator,and the final result shows that the operation time of the manipulator is obviously reduced.At the same time,the angular displacement curve,motion rate curve and motion acceleration curve of each major joint are smooth enough to ensure its stable and efficient completion of tasks.