Research On Robot Trajectory Planning Method For High Load And Low Energy Consumption

With the rapid development of China's economy and the continuous improvement of the intelligent level of industrial manufacturing,China's robot market has also entered a highspeed growth period,with annual sales ranking first in the world for six consecutive years.However,a large number of applications of robots show that they generally have the problem of low load-to-weight ratio.The load that the robot bears in most working spaces is far less than its rated load,which makes the robot prone to "big horse-drawn carts" during work,which not only limits the robot's working capacity,but also causes energy waste.In order to develop a green economy,China's sustainable development strategy clearly proposes to achieve energy conservation and emission reduction.Therefore,improving the carrying capacity of robots and reducing their energy consumption have become very important.In this paper,a new idea for high-load,low-energy trajectory planning of the robot have been proposed based on the labor-saving motion characteristics of the human upper limbs.The robot has been controlled by analyzing and simulating the movements of the human upper limbs.The maximum joint torque and the Energy consumption has been reduced by this way.The main research contents are as follows:First,the motion trajectory of lifting heavy weights by upper limbs is collected by the motion capture system,and the motion trajectory is imported into human mechanics simulation software for mechanical analysis.Exploring the control principle of labor-saving movement of the human body by analyzing the force of the human body during the entire exercise process,it lays the foundation for the subsequent proposal of the humanoid trajectory planning method.Secondly,Analyze the energy consumption characteristics of servo motors.In the principle of human labor-saving motion control,analyze the parts that the robot arm can learn from and consider the energy consumption characteristics of the servo motor to proposes a trajectory planning method for the robot arm with high load and low energy consumption.This trajectory planning method is based on dynamics and forms a new robotic arm trajectory by imitating human motion characteristics.The trajectory planning method is verified feasibility by the simulation of mathematical modeling and ADAMS.Then,a trajectory optimization method that optimizes the polynomial motion curve and improves the load capacity of the manipulator is proposed by analyzing the characteristics of the humanoid trajectory planning method.This trajectory planning method uses a fifth-degree polynomial curve as the motion trajectory.The load capacity of this trajectory planning method is close to the humanoid trajectory by optimizing the parameters of the polynomial curve,it can also improve the load capacity.The trajectory planning method is more conducive to the writing of robot control programs because the final result of this trajectory planning method has a clear mathematical expression.Finally,a torque control experiment was performed on a robotic manipulator experimental platform developed by ourselves.The correctness and effectiveness of the proposed trajectory planning method is verified by the analysis and comparison of experimental results.