Research on multivariable time optimal trajectory planning of industrial robot based on smooth reflection motion

LIU Lan-lan1, QIU Lei2
(1.Department of Mechanical Engineering, Jiangxi Manufacturing Vocational College, Nanchang 330095,
China; 2.School of Mechanical Engineering, Ningbo Institute of Technology, Ningbo 315336, China)

Abstract: Aiming at the problem of how to improve the work efficiency of highprecision assembly industrial robots, a multivariable timeoptimal trajectory planning method for industrial robots based on smooth reflection motion was designed, which can be effectively applied to health and degraded states. The kinematic chain of the industrial articulated robot was studied, and according to the requirements of precise assembly tasks and the performance of the robots joints, a novel multivariable optimization method was used to shorten the execution time of any specific path to the shortest. The acceleration time was adjusted asynchronously, and the execution efficiency was optimized. Specific tests were performed on a modular 6-degree-of-freedom(DoF) robot in the optoelectronic industry. The experimental results indicate that compared with other optimal execution motion planning methods, the proposed method improves the robots execution trajectory speed by 39%, and has better optimization performance even in degenerate joint mode.
Key words: trajectory planning; industrial robot; time optimization; multivariate optimization