Research On Time Optimal Trajectory Planning Of Six Axis Stamping Loading And Unloading Robot

With the continuous improvement of industrial automation,more and more enterprises are using intelligent equipment to replace workers in order to improve the working environment of workers and increase the production efficiency of products.This article takes the Yaskawa GP-180 six-axis robot in the automated production line for automobile control arm stamping of a certain enterprise as the research object.Based on the analysis of robot kinematics and trajectory planning,an improved arithmetic optimization algorithm is proposed and applied to achieve time-optimal trajectory planning in the joint space trajectory planning of the robot.The simulation and verification are carried out through MATLAB software.Firstly,the mathematical theory foundation of industrial robot spatial pose,coordinate transformation,robot kinematics and dynamics,and optimization problems are introduced in detail.Secondly,the automobile control arm stamping automated production line is analyzed,and the working process and related equipment of the production line are introduced.The mathematical model of the robot is established using the D-H method,and the forward and inverse kinematics equations are derived.Then,the three cubic polynomials,five cubic polynomials,four-five-four piecewise polynomials in joint space,and straight-line interpolation and circular arc interpolation methods in Cartesian space are introduced in detail.Based on the characteristics of the robot handling and stamping material trajectory,the four-five-four piecewise polynomial in joint space is selected for trajectory planning,which not only avoids the complexity of single polynomial interpolation and the occurrence of "Runge’s phenomenon",but also improves the smoothness and stability of the robot running trajectory.Thirdly,after introducing the basic principles of arithmetic optimization algorithm,the standard arithmetic optimization algorithm is improved by using the improved Circle mapping strategy,Sparrow search improved development stage strategy,and adaptive t-distribution strategy.Then,a time-optimal four-five-four piecewise polynomial trajectory planning method based on the improved arithmetic optimization algorithm is proposed to optimize the robot’s running time.Under various joint constraints,the improved arithmetic optimization algorithm is used for iterative optimization to achieve the goal of time-optimal trajectory planning.Finally,the MATLAB software is used for simulation analysis to establish an industrial robot simulation model and verify the correctness of the derived forward and inverse kinematics equations.The Monte Carlo method is used to simulate the robot workspace and obtain the cloud point map of the robot workspace.The interpolation simulation of the robot using single polynomial and piecewise polynomial is performed based on the joint angles taught by the robot.The curve graphs of joint displacement,angular velocity,and angular acceleration are obtained.Then,the simulation analysis of the time-optimal four-five-four piecewise polynomial trajectory planning method based on the improved arithmetic optimization algorithm is performed,and the results show that the robot’s running time and stability are better than those of single polynomial and piecewise polynomial interpolation methods.Therefore,the effectiveness of the method in shortening the robot’s working time and improving the production efficiency of the stamping production line is verified.