Research On Trajectory Planning And Control System Of Six Axis Industrial Robot

With the development of science and technology, the application of robots hasbeen increasingly popular, and has been gradually applied in many fields. Mechanicalarm is one of the most important actuator of industrial robot, so it has importantsignificance for its research.This paper has carried out the following several aspects:First target is the design of hardware system of the six axis industrial robot,including the design of the robot body and the electric control cabinet. Industrial PC’smain function is to monitor the controller state, and at the same time to complete themechanical arm kinematics and trajectory planning algorithm implementation. Solidjoint controller uses the GTS-800motion control card to complete the main position,speed and torque servo control algorithm implementation.Second this paper studies robot kinematics theory, using d-h modeling todescribe the relationship of the translation and rotation between adjacent bars.Kinematics positive solutions are obtained by the product of the transformation matrix,and then analyze the inverse kinematics of manipulator, adopts the analytical methodcombined with projection to decoupling algorithm of joint angle, and using robottoolbox of the MATLAB simulation verify its correctness.After that is the work of robot’s trajectory planning, adopting the S curvedeceleration control algorithm combined with the cubic spline interpolation to realizelinear interpolation and circular interpolation, making the movement stable andreliable. Then make algorithm optimization, verified by MATLAB simulation.The last work is the robot control system software design. Using API functionsto complete the interaction between the operator and information system based onMFC, realizing the robot motion detection, digital input, motion parameters displayand serial communication. Based on the MFC framework class and OpenGL graphicslibrary, this paper specially developed a set of3D simulation tools suitable for thiskind of configuration in VC++6.0platform. Simulation tools integrated thekinematics and trajectory planning algorithm, which effectively verify the correctnessof the mathematical model, the positive and inverse kinematics solving process, andeffectively solve the problem of the high cost testing on the robot ontology. Theexperimental results show that the control system works well and could controlvarious mode of mechanical arm movement exact in real-time.