Multi-Axis Linkage Look Ahead Trajectory Planning For Industrial Robots Cooperative Work

As one of the key technologies of CNC system,control technology represents the level of NC technology in a country.China’s industrial robots started late and their technical level is not high.In order to greatly increase the domestic market share and performance of robots,it is necessary to increase R&D investment and establish an efficient R&D team to develop the core robot components,especially the controllers.This paper mainly completes the universal six joint industrial robot modeling,multi-axis linkage trajectory planning,controller hardware platform design and high-speed bus communication technology.In the multi-axis linkage foresight,the impact constraints are considered to achieve acceleration smoothing control.The controller trajectory interpolation is divided into three parts: sub speed planning,path construction and speed forward control.The speed planning layer is implemented by efficient S curve.The path construction layer adopts a straight section and a circular arc combined with a small section of construction space location track.The robot’s attitude path and transition path are constructed by means of an axis-angle pair.The robot control system is a motion control application with very high real-time requirements.The main control unit uses high-performance embedded solutions,real time operating systems,and POWERLINK high-speed real-time bus communication to design the hardware platform.The ARM core processor chip is equipped with embedded Linux operation system to complete the human-machine interaction task.Based on the Linux system,the C++ language is used for algorithm design and packaging on Qt,the algorithm testing and implementation are accomplished through a combination of software and hardware.And visualization analysis was completed in MATLAB,to verify the feasibility and efficiency of the proposed algorithm.