The time optimal trajectory planning of the 6R robot was studied.The dynamic model of the robot was established by the Newton-Euler method.Polynomial interpolation was used for the end path of the robot,and the phase plane method under dynamic and kinematic constraints was used to obtain time-optimal trajectory data.Aiming at the problems of unstable accuracy,long programming time and low robot work efficiency in manual teaching of robots,a digital twin system based on OpenGL was studied.The trajectory opti-mization algorithm was applied to the system to realize offline teaching,trajectory planning,offline simulation and online control.Finally,the system and the time-optimal trajectory planning algorithm were verified on the ZRRT-608 robot.The results indicate that the robot has achieved the shortest operating time.
维普
万方数据