Industrial Robot Trajectory Smooth Transition Algorithm Design And Real-time Control System Construction

With the development of industrial robot technology,the requirements for accuracy and efficiency are becoming stricter.Trajectory planning technology is an important means to improve the overall performance of the robot,and it is also an important part of the robot control system.It is a hot issue in the field of robotics,so the research on robot trajectory planning is of great significance.The movement of the robot needs frequent acceleration and deceleration at the corner to overcome the sudden change of the path at the corner,which will seriously affect the efficiency of the robot.To solve this problem,it is necessary to study the smooth transition algorithm and speed planning of the robot end trajectory.This paper uses the(D-H)method to model the robot's kinematics,and analyzes the forward and inverse kinematics to realize the calculation process of the robot's forward and inverse kinematics,which is verified by MATLAB software.The NURBS curve is theoretically analyzed,and the algorithm design of generating the NURBS curve from the model value point back-calculated control point is completed.Then for the corner transition problem,the NURBS curve is used to make the smooth transition between the path segments,and make 7-segment S-curve speed planning for the space straight section and transition NURBS curve.The algorithm is implemented using the C++ programming language and verified by MATLAB simulation.This article also builds the robot control system,uses QT software to design and implement the interface and functions of the robot teach pendant,so that it can input motion instructions,state display and communication functions.In order for the real-time performance of the robot control system to meet the requirements,the operating system as its carrier should also have good real-time performance.In this paper,the RT-Preempt method is used to transform the Linux operating system in real time,and the robot controller is designed on the transformed operating system.The multi-process programming method is adopted to realize the communication function,decoding function,interpolation function and I/O function.Finally,complete the decoding,interpolation,and inverse solution from the instruction input from the teach pendant to the controller to obtain the joint angle of each joint.Such a complete robot control process simulation verifies the correctness of the trajectory planning algorithm and the control system design.