In recent years,with the rapid development of robot technology,robots with different functions have been widely used in various fields,especially in industrial robots.It has been widely concerned for its high efficiency,good repetition accuracy,and ability to work in dangerous environment.In order to meet the requirements of the industry for the performance of the robot,such as stable operation,fast movement,etc.Robot trajectory planning has become the key problem in the research of robot technology.In the research of trajectory planning,the inverse solution of robot joint motion is the focus of research.However,the inverse solution process of existing methods is often accompanied by problems such as analytical difficulties and multiple solutions.In this paper,aiming at many problems in the process of solving the inverse solution of joint motion,the trajectory planning of 6-DOF series robot is analyzed and studied in order to improve the working efficiency of the robot.Taking an industrial 6-DOF series robot as the research object,the positive solution of the robot is analyzed by using D-H method and spinor method.Based on the theory of robotics,the D-H method is used to establish the linkage coordinate system and the mathematical model of the six degree of freedom serial robot.Based on the rigid body motion and spinor theory,the joint coordinates are transformed into spinor coordinates by spinor method,and the spinor coordinate system and positive kinematics equation of the robot are established.By comparing the calculation process and results of the two methods,it can be seen that the D-H method is better than the spinor method in calculation.Based on D-H method,the inverse kinematics equations are analyzed.Aiming at the problem of multiple solutions of inverse kinematics,by analyzing the positive solution equation of D-H method,combining the separation of position and attitude,geometric method and the principle of shortest travel,the inverse position and attitude solutions are obtained and the optimal solution of inverse solution is selected.Then the correctness of the forward and inverse kinematics is verified by Matlab software.Based on the forward and inverse kinematics of the robot,the working space of the robot is analyzed by Monte Carlo method,and the working space cloud chart of the robot under different iterations is drawn by MATLAB software.This paper analyzes the trajectory planning of an industrial 6-DOF serial robot,and focuses on the robot trajectory interpolation algorithm in Cartesian space coordinate system and joint space coordinate system.In Cartesian space,the space vector method is used to calculate the position interpolation of the straight line track;through coordinate transformation,the plane arc interpolation algorithm is used to calculate the position interpolation of the space arc.For the point-to-point motion in joint space,the joint trajectory planning of the robot is carried out by using quintic polynomial interpolation function,and the trajectory planning is carried out by controlling the joint position,velocity and acceleration of the initial point and the end point of the robot.And the MATLAB software is used to simulate the space line interpolation,space arc interpolation and the trajectory planning of quintic polynomial.The real-time performance of the simulation platform is realized,and the effectiveness of trajectory planning is verified. |