Research On Trajectory Planning And Optimization Of 6-DOF Manipulator

With the continuous breakthrough of technology and the diversification of market demand,the application range of manipulator is becoming wider and wider,and it is no longer limited to the work on the industrial assembly line.Along with it,the requirements for the working quality of the manipulator are higher and higher.Therefore,taking the 6-DOF manipulator as the research object,this paper studies its trajectory planning and trajectory time optimization method.The specific work of this paper is as follows:(1)The kinesiology of the manipulator is discussed.The manipulator mould is set up by using the D-H parameter.And then deducing the forward kinematics formula.Eight groups of inverse solutions are obtained by using the analytical method,and the group with the smallest error is selected as the bestl solution.Solve the operation sphere and draw the specific image of it.(2)The trajectory of the manipulator is planned.According to the different space division,the trajectory planning of the manipulator is carried out by five interpolation methods in the two spaces.This test prevailingly discuss the cubic B-spline fitting modus,the trajectory obtained by this method can not pass through all control points,so make improvements to it,and then uses the improved fitting method to randomly select a group of path points for interpolation calculation,obtain the three-dimensional space path and joint motion parameter curve,observe the curve,and theoretically verify the feasibility of the improved algorithm within the constraints.(3)The trajectory of the manipulator is optimized.The genetic algorithm is improved from two aspects: fitness function and genetic operator.Taking the motion parameters of the manipulator as the constraints,the penalty function is used to eliminate the constraints in solving the problem,and the sinusoidal function is introduced to improve the genetic operator to make it change nonlinearly with the advance of the calculation process.The optimization result is less than the value before optimization.The trajectory of the optimization result is re planned to obtain the motion parameter curve,which is also with in the constraints.It is proved that the optimization algorithm is feasible in theory.(4)Build the virtual simulation platform of manipulator.With joint simulation of Solid Works and MATLAB,setting up the simscape model of the manipulator,and putting the above algorithm to the test.By comparing with the results of robot toolbox,the inverse solution algorithm deduced is verified;Run the improved B-spline trajectory and optimized trajectory on the platform,comparing the scope waveform with the theoretical motion parameter curve,and verify the correctness of the trajectory planning algorithm and the feasibility of the optimization algorithm.