| With the implementation of the strategy of "made in China 2025",the robot industry has become one of the key industries in China.As an important type of the industrial robot,the rapidly developping the serial robot is of great help to the improvement of the discrete manufacturing field.As the most basic robot planning,the trajectory planningplays a decisive role for the robot to complete the task efficiently and accurately.In this paper,it refers to a more in-depth exploration of 6DOF robot kinematics and trajectory planning knowledge aspects,and based on this,it makes the 6DOF(6 Degrees Of Freedom)robot kinematics and trajectory planning simulationthrough the Matlab Robotics toolbox.Finally,the inverse kinematics method is verified through the AS-6DOF robot ofthe AosongCompany,and a method capable of writing simple letters and Chinese charactersof 6DOF robot is designed and simulated with linear interpolation and space circular arc interpolationthrough the AS-6DOF robot ofthe AosongCompany.The researched contents are as follows:(1)Through the study of comparative analysis of the history and the present situation of the industrial robot,research trends and development trend of domestic trajectory planning method,it can be known the robot industry has developed many years,but is still a just unfolding in the industry,and is still promising in the field of trajectory planning.(2)Through the study to build the knowledge of kinematics of robot pose transformation,kinematics,robot coordinate system,a 6DOF robot kinematics model is established by D-H method,and solution of inverse kinematics is solved based on the analysis.(3)The trajectory planning method about 6DOF robot in the joint space and Cartesian space is studiedand it focuses on the three and five polynomial interpolationof Joint Space,linear interpolation and space circular interpolationof Cartesian Space.The mathematical relationare also deduced.(4)A robot model is buildedabout Puma560 through the Matlab Robotics Toolbox and coordinate transformation,the positive and negative solutions,trajectory planning of motion model analysis and simulation verification and so on are researched.Finally the trajectory planning method of 6DOF robotin Joint Space and Cartesian Space is verifiedfeasibly.(5)It is resolved theinverse kinematics the 6DOF robot with Arduino platform,and a path planning method using linear interpolation and circular interpolation spaceis designed to make the robot 6DOFrobotwtite the letter "S" and "Chinese characters".This method has been validated to be effective by Robotics Toolbox and 6DOF robot. |
