Research on trajectory optimization of six-degree-of-freedom industrial robot

2021 ◽  
Author(s):  
Jinliang Li ◽  
Mingyuan Xue ◽  
Bin Zhang ◽  
Junwei Zhang
Keyword(s):  
Trajectory Optimization ◽  
Industrial Robot ◽  
Degree Of Freedom ◽  
Six Degree Of Freedom

scholarly journals Research on Trajectory Planning of Six Degrees of Freedom Robot

2019 ◽  
Vol 25 ◽  
pp. 01010
Author(s):  
Hao Zhou
Keyword(s):  
Trajectory Planning ◽  
Degrees Of Freedom ◽  
Simulation Analysis ◽  
Industrial Robot ◽  
Research Direction ◽  
Industrial Robots ◽  
Degree Of Freedom ◽  
Continuous Development ◽  
Six Degrees Of Freedom ◽  
Six Degree Of Freedom

With the continuous development of industrial automation, the demand for industrial robots in the manufacturing field is gradually increasing. In order to meet the needs of different occasions and functions, the planning of the trajectory of the robot becomes the research direction of the six-degree-of-freedom robot. The research object of this paper is a six-degree-of-freedom industrial robot. According to engineering needs, a structure of a handling robot is designed. The kinematics of the robot and its trajectory planning are studied, and the simulation analysis is made.

Iterative feedback control based on frequency response model for a six-degree-of-freedom micro-vibration platform

2021 ◽  
pp. 107754632199731
Author(s):  
He Zhu ◽  
Shuai He ◽  
Zhenbang Xu ◽  
XiaoMing Wang ◽  
Chao Qin ◽  
...  
Keyword(s):  
Feedback Control ◽  
Frequency Response ◽  
Control Strategy ◽  
Degree Of Freedom ◽  
Small Displacement ◽  
Response Model ◽  
Parameter Uncertainties ◽  
Micro Vibration ◽  
Six Degree Of Freedom ◽  
Iterative Feedback

In this article, a six-degree-of-freedom (6-DOF) micro-vibration platform (6-MVP) based on the Gough–Stewart configuration is designed to reproduce the 6-DOF micro-vibration that occurs at the installation surfaces of sensitive space-based instruments such as large space optical loads and laser communications equipment. The platform’s dynamic model is simplified because of the small displacement characteristics of micro-vibrations. By considering the multifrequency line spectrum characteristics of micro-vibrations and the parameter uncertainties, an iterative feedback control strategy based on a frequency response model is designed, and the effectiveness of the proposed control strategy is verified by performing integrated simulations. Finally, micro-vibration experiments are performed with a 10 kg load on the platform. The results of these micro-vibration experiments show that after several iterations, the amplitude control errors are less than 3% and the phase control errors are less than 1°. The control strategy presented in this article offers the advantages of a simple algorithm and high precision and it can also be used to control other similar micro-vibration platforms.

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