Trajectory Tracking Control Algorithm of Six Degrees of Freedom Industrial Robot.

Because the robot system has the characteristics of time-varying, strong coupling, and nonlinear system, the influence of many factors, such as load change, friction, interference and so on, is inevitable when the robot system is running in the industrial field. Therefore, the adaptive ability of the control system is required to be better. This paper discusses the pose description of robot and the transformation between coordinate systems. Under the condition of satisfying various constraints, the shortest running time is used as the optimization objective function to optimize the motion trajectory of six degrees of freedom Industrial Robot. The purpose is to minimize the running time of six degrees of freedom Industrial Robot under the conditions of point-to-point motion or along the given trajectory, and improve the working efficiency of the robot. The experimental results show that the trajectory tracking control method can meet the speed and acceleration constraints of the robot in Cartesian space and joint space at the same time, realize the overall motion smoothness of six degrees of freedom Industrial Robot, and maintain high motion efficiency. [ABSTRACT FROM AUTHOR]