Research On Trajectory Planning Of Robot Based On Spline And Energy Optimum Hybrid Interpolation

As mechanical,electronic,control,computer and other interdisciplinary automation equipment,robots are more and more used in mechanical processing,spraying,welding,assembly and other industrial production because of their good applicability and high reliability.As the application scene of robot is becoming more and more complex,people have higher and higher requirements for robot trajectory planning,not only considering trajectory smoothing,but also considering the stationarity of robot motion and the need to locally modify its trajectory in some tasks,but the traditional trajectory planning algorithm can not meet these requirements at the same time.In addition,the traditional trajectory planning seldom considers the problem of energy consumption when the robot is moving,resulting in a large amount of energy waste,and with the promotion of national energy saving and emission reduction and green manufacturing,how to reduce the energy consumption of robots in the process of trajectory planning has also become a research hotspot.In this paper,the above problems are studied in this paper.aiming at the trajectory planning problem of a given path,a trajectory planning algorithm based on high-order non-uniform B-spline interpolation is proposed.aiming at the lack of kinematic parameter constraints and energy consumption of trajectory planning with given start and end points but uncertain intermediate paths,an optimal trajectory planning algorithm of hybrid interpolation energy consumption based on particle swarm optimization is proposed.First of all,the research purpose and significance of robot are described in detail,and then the research status of industrial robot and industrial robot trajectory planning and control at home and abroad is analyzed.In order to simplify the kinematics equation of the robot,the Dmurh method is used to model the robot.Through the forward and inverse kinematics analysis of the robot,the changing rules of the motion state of each joint and the end effector are obtained,which lays a theoretical foundation for the follow-up system modeling and simulation analysis.Secondly,aiming at the problems of the traditional trajectory planning algorithm of the given path of the robot,such as the trajectory is not smooth,the acceleration is not constrained,and the trajectory can not be modified locally,a trajectory planning algorithm based on high-order non-uniform B-spline interpolation is proposed so that the robot can run smoothly and the planning trajectory can be modified locally.Thirdly,aiming at the problem that the robot has a given starting and ending point but different intermediate paths,a hybrid interpolation algorithm with the combination of fifth degree polynomial and seventh degree polynomial is proposed,and the energy consumption objective function of each joint of the robot is established to calculate the energy consumption in the process of movement.the optimal trajectory of energy consumption is searched based on particle swarm optimization,and a hybrid interpolation energy optimal trajectory planning algorithm based on particle swarm optimization is proposed.In order to better carry out trajectory planning while reducing the energy consumption of the motion process.Then,the MATLAB system modeling and simulation analysis are carried out on the trajectory planning algorithm based on high-order non-uniform B-spline interpolation and the hybrid interpolation energy consumption optimal trajectory planning algorithm based on particle swarm optimization.The simulation results show that the trajectory planning algorithm based on high-order non-uniform B-spline interpolation has better motion constraint and runs more smoothly than the traditional trajectory planning algorithm.the hybrid interpolation algorithm based on the combination of fifth-degree polynomial and seventh-degree polynomial is better than fifth-degree polynomial and seventh-degree polynomial motion constraint.Compared with the hybrid interpolation algorithm without particle swarm optimization,the energy consumption of the hybrid interpolation trajectory planning algorithm based on particle swarm optimization algorithm is lower,and the energy consumption is reduced by 9.1%,9.26% and 9.5% respectively at different iterations.Finally,in order to further verify the correctness of the simulation results,a multiaxis motion controller is designed in this paper.its hardware mainly includes control core module,emergency stop module,power supply module,pause module,internal and external communication module and motor control module.the software part mainly includes the system control main program,the trajectory interpolation main program and the particle swarm optimization algorithm subroutine.A robot control system composed of multi-axis motion controller,servo motor,servo driver and host computer is constructed.The trajectory planning algorithm based on high-order nonuniform B-spline interpolation and the optimal trajectory planning algorithm based on particle swarm optimization algorithm are tested experimentally.The experimental results show that the trajectory planning algorithm based on high-order non-uniform Bspline interpolation is superior to the traditional low-order non-uniform B-spline interpolation in terms of motion stationarity and local modifiability.The hybrid interpolation algorithm proposed in this paper has better motion constraints than the traditional quintic polynomial interpolation algorithm and the seventh degree polynomial interpolation algorithm.and the energy consumption of the hybrid interpolation optimal trajectory planning algorithm based on particle swarm optimization algorithm is lower than that of the trajectory planning algorithm without particle swarm optimization,and the energy consumption is reduced by 6.1%,7.91%and 9.3% respectively at different iterations.It effectively reduces the energy consumption in the operation of the robot.