Trajectory Planning And Application Of Industrial Manipulator Based On Improved SSA Algorithm

With the continuous improvement and development of modern industrial technology,the production and application scenarios of industrial robot arm are more and more extensive and in-depth.Under various complex working conditions and practical demands,the performance and efficiency of industrial mechanical arm become one of the key factors restricting production.As an important part of the motion control of industrial robot arm,trajectory planning provides input for its control system and determines the working mode and performance of industrial robot arm.Therefore,trajectory planning is one of the important research contents of industrial robot arm.Trajectory planning algorithm with single objective has been unable to meet the requirements of diversification,complexity and precision of industrial manipulator production.Multi-objective optimization,such as improving robot working efficiency,running trajectory stability and reducing robot energy consumption,has become a current research focus.In order to solve the problems of large start-stop impact,easy jitter,reduced production efficiency and service life of industrial mechanical arm in the large scale fast and disorderly feeding process,this paper takes the six-degree-of-freedom industrial mechanical arm as the research object.The trajectory planning and application based on the improved Sparrow Search Algorithm(SSA)are studied.The work content of the full text is as follows:(1)Based on ODJ JL8-600 six-degree-of-freedom industrial manipulator,this paper summarizes its inherent parameters,and establishes a kinematic model of the industrial manipulator with improved D-H method.The sparrow algorithm was used to solve the complex problem with the inverse solution of the traditional analytical method.Finally,Coppelia Sim software was used to show the reasonable working space of the industrial robot arm,which laid the foundation for the following research work.(2)Aiming at the disordered loading task scenario of industrial manipulator,polynomial interpolation function,piecewise mixed polynomial interpolation function,B-spline function and linear interpolation and circular interpolation algorithms commonly used in the trajectory planning process of joint space were analyzed,and Matlab was used to verify the main algorithms.In order to solve the smooth transition problem of multi-segment trajectory of industrial manipulator in Cartesian space,the adjacent connecting arc model was established at the inflection point of the path,and the improved method based on S-shaped velocity curve was used to plan the continuous multi-segment trajectory,so as to realize the smooth transition of adjacent trajectory and ensure the continuous and non-abrupt motion curve of the end of industrial manipulator.(3)Aiming at the problems of the classical sparrow algorithm(SSA),such as weak global optimization ability,easy to fall into local optimization,and unable to effectively carry out multi-objective optimization,an improved SSA algorithm is proposed,and its effect is verified by a variety of test functions.On the basis of the above,quintuple B-spline function was used to interpolate the path to obtain the running track of the manipulator,and the improved SSA algorithm was used to comprehensively optimize the running time and impact of each joint of the industrial manipulator.The simulation results show that using the improved SSA algorithm for optimal trajectory planning of industrial manipulator can improve the working efficiency of the manipulator and effectively reduce the impact on each joint.(4)Design and build the unordered feeding experiment platform of industrial mechanical arm.Firstly,the hardware system and software system related to real scene experiment are introduced.The hand-eye calibration experiment was carried out in the vision system to determine the conversion relationship between the camera coordinate system and the base coordinate system of the industrial robot arm.The template matching method was used to detect the position and pose of the workpiece.Then design and build a virtual simulation platform based on Coppelia Sim and Matlab,according to the actual factory operation requirements to optimize the virtual scene.Finally,based on the research work done in the whole paper,the loading operation was carried out in real scenes and virtual platforms successively to verify the feasibility of the research work in this paper.