Research And Simulation Of 6-Dof Industry Robot Based On Matlab

Robot is a typical electromechanical integration equipment, in addition to manufacturing, agricultural, medical, marine development, aerospace engineering has been increasingly widely used, but also has been infiltrated into all aspects of people's lives, with the industrial robot to the direction of the development of deeper and broader as well as raise the level of intelligent robots, robot-range of applications continues to expand. High added value robot technology, a wide range of applications, the robot industry is fast-growing new industries, will be the future of production and social development play an increasingly important role. In the function of a large number of robots, industrial robots, a considerable number and size.Robot kinematics, dynamics is in robotics based on a very important issue and so far has been extensive and in-depth research, this issue is the institutional design of the robot and control strategy has been implemented is very important. In robot kinematics and dynamics analysis, kinematics and dynamics model is an important part, it is directly related to the robot control, dynamic characteristics of robot, robot, such as dynamic optimization problems. In this paper, the establishment of D-H Law PUMA560 robot under various pieces of the coordinate system, and then transform the basis of homogeneous coordinates and matrix theory to study the kinematics of the robot is the problem, the establishment of the robot kinematics model; on this basis study the kinematics inverse problem, in view of the inverse problem of multiple solutions, in accordance with the principle of reasonable, a group selected the most suitable solution of the results of anti-articular angle. Then study the issue of robot dynamics, mainly in order to solve the problem of robot control. The first known robot in the joint force or torque, and the joint displacement, velocity and acceleration; the other is known to the robot joint displacement, velocity, etc., required for the joint driving force or torque .Analysis of the problem of robot path planning in joint space trajectory planning discussed cubic polynomial interpolation function, the transition with a linear function of the parabolic interpolation and high-order polynomial interpolation; in the rectangular coordinates of the trajectory space planning, discussed the linear interpolation algorithm and circular interpolation algorithm. Then at right angles to the space and joint space trajectory planning compared the advantages and disadvantages of using polynomial interpolation on the work of the robot trajectory planning process. Robot kinematics, dynamics and trajectory planning for the completion of the movement for the robot simulation analysis has laid a theoretical basis.On this basis, this paper MATLAB toolbox robot system for robot motion simulation. First of all, build a robot to the target, all the joints need to build, and then passed through a combination of joints known DH parameters, joint type, joint quality, Coulomb friction, viscous friction and the gear transmission ratio, such as optimization parameters, so that with physical model is similar to the structure, movement and power performance, three-dimensional model of the robot to build the object.Robot Motion Simulation of the main purpose is to study the process of the robot in the operation of the main indicators of the changes in kinematics, where the main response to angular displacement of joints, joint angular velocity, joint acceleration, displacement and the end of the robot velocity and acceleration as well as the space curve kinematic parameters, such as research. The use of computer simulation of the working process can not only reflect the robot is very intuitive structure of the nonlinear coupling and the end of the bar part of the motion work, but also for the specific development of robot control strategies and the provision into the theoretical basis and evaluation.From the control theory point of view, the robot system is a complex coupling system dynamics, the mathematical model has significant non-linear and complex nature of robot dynamics study of the problem is to solve the problem of robot control. In this paper, the main research method is the analysis of Lagrangian mechanics, Lagrange's equation based on the second type of balance between the functions of law, based on the kinematics of the dynamic equations, derived from a robot at work dynamic model of the positive and reverse recursive recursive formula.Finally, a preliminary study of variable structure sliding mode control in multi-joint robot control system, analysis of the overall rapid Terminal sliding mode control theory, which includes the sliding surface, sliding mode controller and to control the time and stability. Role in the control, the system state in the limited time and quickly reach the sliding surface in limited time to converge to a state of equilibrium, the system reduces the steady-state error. Through the MATLAB / SIMULINK simulation experiments, the results of a control strategy to verify the effectiveness of the algorithm; However, the results of the analysis, there have been chattering phenomenon will cause undue wear and precision, this is the need to further overcome.In this paper, through the use of MATLAB software platform, using its powerful toolbox and SIMULINK toolbox robot, based on mathematical theory based model of robot kinematics and dynamics in the trajectory planning on the basis of their use of the computer robot kinematics and dynamics simulation, and to further explore the sliding mode variable structure control in the field of robot control the use of robots for company on this project for further transformation and development of robots to lay a certain foundation.