Research On Continuous Trajectory Planning Of Six-dof Tandem Robot

With the development of science and technology,robot technology has become an important scale to measure the development level of a country’s manufacturing industry.In order to improve the trajectory accuracy and processing efficiency of the continuous trajectory of the robot,the six-degree-of-freedom tandem robot is taken as the research object to study the continuous trajectory planning of its end point in the Cartesian space.The main research contents are as follows:(1)Establish the kinematics relationship of the six-degree-of-freedom tandem robot.First,analyze the different description methods of the robot joint posture,then establish the robot D-H parameter model,define the state parameters between the joints,and derive the transformation matrix of the robot end relative to the base coordinate system,and finally solve the robot forward and inverse kinematics.(2)Study the acceleration and deceleration algorithm of the robot end speed.Based on the existing convolution acceleration and deceleration algorithm with zero end point speed,the mathematical relationship between the theoretical distance and the actual distance is established,the input parameters of the convolution are modified,and a convolution acceleration and deceleration algorithm with endpoint speed that is not zero is proposed.The experiments of T-type and S-type convolution acceleration and deceleration are carried out on an experimental platform built independently.The experimental results show that a smooth speed curve that meets the constraints of system speed and acceleration conditions can be obtained.(3)Research the speed processing algorithm of the joint point of the robot end trajectory,and propose to use the arc transition method to insert a circular trajectory at the angle between the two linear trajectories,so that the two trajectories achieve continuous speed.The interpolation algorithm of the robot’s terminal trajectory position is studied,combined with the convolution acceleration and deceleration algorithm where the endpoint can be non-zero,and a linear,arc and NURBS curve interpolation algorithm based on convolution acceleration and deceleration is proposed.This paper studies the interpolation algorithm of the robot’s terminal trajectory,analyzes the geometric meaning of the unit quaternion,and combines the convolution acceleration and deceleration algorithm where the endpoint can not be zero,and proposes a two-position interpolation algorithm based on the unit quaternion.(4)Based on the built RTX64 robot motion control platform,experimental verification of the researched algorithm is carried out.On single-segment straight lines and single-segment arcs,the proposed linear interpolation algorithm and circular interpolation algorithm based on convolution acceleration and deceleration are verified.Experimental results show that the algorithm can generate a smooth trajectory,and the output speed and acceleration are both meet system restrictions.The two-point attitude is verified by a two-position interpolation algorithm based on unit quaternion.The experimental results show that the angular velocity and angular acceleration of the algorithm meet the system limit requirements.Insert an arc transition curve between two adjacent straight lines,and conduct a comprehensive experiment on the continuous trajectory planning algorithm.The experimentally generated curve is smooth and the output parameters are within the system limits.The experimental results show that the six-degree-of-freedom robot end continuous trajectory under study the planning algorithm is effective.