Research On Acceleration-optimal Of Manipulator Joint Based On Predetermined Trajectory

Since the industrial revolution, human labor is gradually replaced by machinery. To meet the high efficiency, high strength and high dangerous work in the process of production, industrial robots was born. The robot technology from the initial to mature after evolved over the decades. People concern now is that the minimum working times, the minimum acceleration, the minimum shock of industrial robot. However, research on the optimal acceleration of manipulator joint is less. To find a curve that make the acceleration minimum in the case of the terminal trajectory is known and time has been set of loading and unloading manipulator, in order to reduce the tracking error, reduce force of the actuator and robot arm, limit resonance frequency of the manipulator and produce coordinated motion, it is necessary to optimize acceleration of the robot hand.The paper mainly fromthe following aspects for optimizing joint acceleration:Firstly, by studying the structure and motion process of the loading and unloading manipulator, using D-H method to establish the kinematic model and kinematic analysis, and solution of the Jacobi matrix. Secondly, Using the Newton-Euler method establish dynamic equation of loading and unloading manipulator, then analysis the manipulator operation acceleration and generalize acceleration of the joint. Finally, using five B spline curve fitting of each joint trajectory and using an improved genetic algorithm to find out the optimal solution in the MATLAB software of the joint’s displacement, velocity, acceleration and impact curve.The experimental results show that five B spline can ensure trajectory curve smoothness and continuity, synthetically improved genetic algorithm is effectively to improve the premature convergence, slowly convergence speed and local optimal solution and other shortcomings of the genetic algorithm.