Tajectory Planning Research For Removing Forging Crack By Cutting Machining Robot

With the continuous improvement of industrial automation,industrial robots have been widely used in the field of machining.For the problem of removal of forging cracks in cutting robots,the related trajectory planning interpolation algorithm was studied.During the machining process of robots,the trajectory planning has a direct impact on the machining quality.In this paper,the following researches have been carried out on the path planning of the robot end effector and trajectory plan:(1)According to process requirements,establishing a cutting robot model;Using the homogeneous coordinate transformation matrix and D-H method to establish the forward kinematics equation of the robot,Using algebraic method to Solve Inverse Motion Equation of Robot.(2)By analyzing crack trajectory properties,In order to ensure the robot speed and acceleration are continuous.A cubic B-spline curve fitting algorithm is proposed for path planning.Introduction to cubic B-spline theory,the simulation results show that the algorithm satisfies the path planning requirements.(3)In robotic Cartesian space,a trapezoidal speed control algorithm was applied.The planned feedrate is used to determine the interpolation parameters for each sampling period using the Taylor expansion formula,and then the cubic B-spline curve interpolation is used to form the movement increment of each coordinate axis.(4)In the joint space of the robot,the robotic Jacobian matrix is constructed.The Second-order coefficient influence matrix is obtained by deriving the Jacobian matrix.In this way,the inverse kinematics equations of the joint speed and the joint acceleration of the robot are established.Finally,the purpose of transforming Cartesian space displacement,velocity,acceleration into joint space.(5)Build a robot cutting platform,Through trapezoid speed control algorithm and cubic B-spline curve interpolation algorithm simulation,Can get the displacement,velocity,acceleration of the robot end effector.Using the inverse kinematics model of the robot,Can get angular displacement,angular velocity,angular acceleration of each joint of the robot.Simulation prove the feasibility of the algorithm in practical application.