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

Teleoperation control can add human intelligence to the control of robots,extending the human operating space to dangerous environments or places that humans cannot reach.In master-slave remote operation control,when faced with tasks that require high operation accuracy and whose trajectory can be determined in advance,such as welding and cutting,the operator needs to move slowly,and the operation efficiency is low and difficult to complete accurately.At this time,the autonomous control of the robot can be used to give full play to its advantages of accurately completing tasks,and autonomous control can be used in the links where remote operation control is not easy to achieve,so that the robot can autonomously complete key tasks in part of the time.The main research contents of this paper are as follows:(1)First,after confirming the selection of the master-slave robot,the connecting rod coordinate system is established according to the structural characteristics of the robot,and the DH method is used to establish the kinematic equations of the masterend Geomagic Touch robot and the slave-end UR5 robot,so as to build the masterslave teleoperated robot system model.,and then analyzes the master-slave robot workspace,and designs a Cartesian space master-slave mapping scheme on this basis.(2)Secondly,continue to study robot autonomous control trajectory planning.For some tasks,it is difficult for the operator to complete it with his bare hands.Here,the autonomous operation mode of the robot can be used to ensure the accuracy of the robot trajectory,and different control methods can be selected for different tasks to improve the flexibility of the system for multi-tasking.An important part of the autonomous control of the robot is to plan the trajectory according to the known path points in the space.Considering the computational complexity and the convenience of subsequent trajectory optimization,cubic B-spline curve is selected as the trajectory planning method.In order to improve the execution efficiency of the robot,a genetic algorithm is used to optimize the time of the cubic B-spline curve.The algorithm simulation shows that the optimization algorithm effectively shortens the running time of the robot and improves the work efficiency.(3)Finally,the robot teleoperation control system and the robot autonomous control trajectory planning algorithm are experimentally verified on the physical experimental platform.Through remote operation control and autonomous control,tasks such as writing and grasping are completed,the motion state of the robot is observed,and the motion information of the robot is obtained in real time.sex and effectiveness.