Research on Motion Path Planning of Six Degrees of Freedom Robot Based on Fuzzy Control Algorithm

Aiming at the trajectory planning problem of six-degree-of-freedom industrial robot in fixed space, this paper extends the trajectory optimization to the actuator control optimization of each joint of industrial robot. At the same time, the control algorithm of each joint steering gear of the robot...

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Bibliographic Details
Published in:IOP conference series. Materials Science and Engineering 2019-10, Vol.631 (5), p.52027
Main Authors: Qi, Liu, Baohua, Li, Ying, Wang, Yao, Gou, Shuo, Li, Kai, Liang
Format: Article
Language:English
Subjects:
Actuators
Algorithms
Control algorithms
Control theory
Degrees of freedom
Fuzzy control
Industrial robots
Process controls
Robot control
Robots
Steering
Trajectory optimization
Trajectory planning
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Summary:Aiming at the trajectory planning problem of six-degree-of-freedom industrial robot in fixed space, this paper extends the trajectory optimization to the actuator control optimization of each joint of industrial robot. At the same time, the control algorithm of each joint steering gear of the robot under the specified path is given. Finally, the whole control strategy is simulated by the software of matlab, and the simulation results are good. The trajectory planning method of six-degree-of-freedom industrial robots proposed in this paper can be used for reference in general industrial process control.
ISSN:1757-8981
1757-899X
DOI:10.1088/1757-899X/631/5/052027