The Irb1400 Type Robot Trajectory Planning And Control

Robot can be viewed as an effective extension of human's ability, so it is indispensable in the course of recognition and exploration of the world. As an important branch in the robot family, industry robot is an important research and development orientation. Due to its importance in theory and application, the trajectory planning and its control of industry robot has been paid enough attention by researchers in the world.First, this paper makes introductions of the definition, the state and the development prospect of robot. According to ABB IRB1400 6-DOF industry robot, the conception and parameter of robot is described briefly. The method of nonlinear equation set was also introduced. Furthermore, based on D-H methods, the direct kinematics problem of this robot was performed mathematical calculations and the methods of its inverse kinematics problem are given in this paper.Secondly, general problems in robot trajectory planning are analyzed. In joint space, cubic trajectories, and linear trajectories which is joined is detailed account separately at different situations. In Cartesian space, linear trajectories and arc trajectories are discussed deeply. Then the advantages and disadvantages of trajectories in joint space and Cartesian space are compared.Thirdly, the principles of the trajectory control of robot are discussed in detail and the mechanism of multi-axis motion was analyzed.At last, according to IRB1400 Industry Robot, analyses on the teaching principle of the robot are made. Based on the language RAPID of IRB1400, the composing and structure of industry robot program language is described in detail. Then the means of off-line programming are researched deeply and preconcerted trajectory of the robot is realized and demonstrated by examples.