6r工业机器人轨迹规划与控制研究-控制工程专业毕业论文.docx

内蒙古大学硕士学位论文
关键词: 6R 工业机器人; SimMechanics 建模;B 样条曲线:轨迹规划:滑膜变结构
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内蒙古大学硕士学位论文
RESEARCH 0F TRAJECTORY PLANNING AND CONTROL ALGORITHM FOR 6R INDUSTRIAL ROBOT
AB STRACT
Industrial robots used in manufacturing can be a substantial increase in labor productivity and product robots with different functions also have different control industrial robot trajectory planning and joint control module is an essential part of all kinds of robot control system,play a pivotal role in the accuracy of the motion.
This thesis is focused on the traj ectory planning and joint control algorithm
main contents are as follows:
Firstly,according to the theory of transformation matrix and the analysis of structure parameters of robot,we create the robot kinematics model based on D-H parameters,in addition the robot kinematics model can be verified by means of the MATLAB software.
Secondly,research on traj ectory planning algorithm for task space based on the
kinematics model of the parabolic interpolate robot task point,make the parabolic chord approximate cure based on equal length chord.
Thirdly,use various parameters of the KUKA KR6-2 robot built a simulation model of the robot in the SimMechanics environment.
Fourthly,research on trajectory planning algorithm for joint B—splines of seven degree interpolate joint position series and generate joint trajectories with
continuous velocity,acceleration and j erk,as well as controllable start—stop kinematic this basis,use ic algorithm plan time—optimal trajectory,the author proposed a kind of planning method to make all joint traj ectory arrive position series
at the same time.
堕鍪直奎兰塑主兰堡垒茎
At last,use the software tool named Simulink to analyze robot control algorithm. The bined the variable structure control and PID control algorithm in which to propose a kind of feed forward algorithm can reduce the error and easy to res