Review of Trajectory Planning for Industrial Robots

Abstract

Abstract More and more industrial robots need high-precision trajectory control, but the traditional PID control is difficult to achieve. The simulation diagram and pose of the collision free mechanism are drawn by using rosty software. At the same time, through the experiment of MOTOMAN-HP3 robot, using VC + + application program to call the external interface function of motocom32 software, the application program planning is realized. The linear and circular trajectory planning of industrial robot in Cartesian space is studied. Linear interpolation algorithm based on spatial parabola transformation and circular interpolation algorithm based on local coordinates are proposed. The algorithm is applied to a self-designed 5-DOF spraying robot. An evolutionary algorithm based optimal trajectory planning method for PUMA560 robot is proposed. The method is based on the elite non dominated sorting genetic algorithm (NSGA-II). The results show that the minimum angular displacement, angular velocity and angular acceleration of X3 parallel robot are 56, and the maximum angular displacement, angular velocity and angular acceleration are 89.