| With the global economic developing, especially in the background of "China manufacturing 2025 strategy",The robotics industry as the focus of the revolution is expanded. As a kind of robots, manipulators can work in danger and poor environment because of the advantages of the high positioning accuracy and reliability. In the currently industries, such as welding, handling and spraying, manipulators that only using a simple trajectory control is not enough for complex assembly operations which need to consider the contact movement. In this paper, the research of 6-DOF manipulators trajectory planning with force constraints has been taken.Firstly, establish kinematics models of the REbot-V-6R manipulator with D-H method,solve the inverse kinematics with the modified Pieper method. Then manipulators simulation system is developed using Matlab Robotic Toolbox.Secondly, take the research about position and attitude planning of 6-DOF manipulators in the Cartesian space. For the position planning,the interpolation algorithms of the space line,the space circular arc and the space complex curve have been studied. For the attitude planning,the methods of Euler angles and equivalent shaft angles have been studied. The experiments of the space linear based on Euler angle, the space circular based on attitude angle increment and five time polynomial,space complex curve based on uniform four element numbers are taken to verify the accuracy of algorithms.Finally, study the trajectory planning methods of 6-DOF manipulators with force constraints. On the basis of contact model and contact kinematics, the force constraint is transformed into the space position and the kinematic constraint. The trajectory planning methods considering the contact stiffness and contact deformation of different edges are studied. The trajectory optimization method which satisfies the security forces is studied. At last, The experiments are carried out to verify the accuracy of the methods. |
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