Time-optimal Trajectory Planning And Design Of EtherCAT Communication System For Industrial Robot

With the proposal of industrial 4.0,industrial robots have received more and more applications in intelligent manufacturing.People hope robots can shorten the working time and improve efficiency,while completing tasks.Taking the time-optimal trajectory of robot as the research goal,an adaptive beetle antennae search optimization algorithm is designed by improving the step iterative method of the algorithm.At the same time,the robot servo communication system is designed based on six axis servo driver and IGH Ether CAT.And the thesis studies the influence of communication synchronization on trajectory planning,and realizes the time-optimal trajectory in joint space.The main research contents are listed:Firstly,the robot kinematics model is established by D-H parameters.Based on the knowledge of robotics,the forward kinematics and inverse kinematics equations are analyzed.The robot model is established by MATLAB,and the correctness of kinematics equations are verified by its functions.Secondly,the trajectory planning methods of industrial robot are analyzed.The BAS algorithm is introduced in detail.By optimizing the iteration step of the algorithm,an adaptive BAS algorithm is designed.Considering the continuity and smoothness of joint operation,3-5-3 piece-wise polynomial interpolation algorithm is selected in this thesis.Then,the BAS algorithm is applied to the 3-5-3 piece-wise polynomial interpolation algorithm.Considering the kinematic constraints,the interpolation time is optimized by adaptive BAS.The time-optimal trajectory is studied by MATLAB.Thirdly,the real-time performance of Linux operating system is optimized by PREEMPT＿RT patch.And the IGH Ether CAT master station is built.The master station control programs are designed for the six axis servo driver.And the slave stations initialization parameters,motor velocities and other communication data are configuredFinally,the Ether CAT communication system designed in this thesis is built and tested,and the time-optimal trajectory is tested.The performances of IGH Ether CAT master station is tested.The influence of synchronization on trajectory planning is studied by tests.Finally,the error between the actual trajectory and the ideal trajectory is 0.2 mrad,which verifies the rationality of the trajectory optimized by the adaptive BAS.