Research on the Motion System of the 6R Industrial Robot Based on the Look-Ahead Control

When the trajectory of the industrial robot was the complex space curve or surface, there would be lots of continuous short line segments through the commercial CAD/CAM software. In this case, the frequent acceleration and deceleration would occur for the traditional industrial robot when running the process. This was leading to the robot vibration, even damaging the components. Aiming at this problem, this article built the motion system based on look-ahead control. First, various constraints were summarized in running process. Then the program preprocess module calculated all information needed in look-ahead control in advance. Dangerous points were determined in accordance with judging criteria. And then the paper figured out the velocity of the connect points with constraint conditions and planned the acceleration and deceleration. At last, the velocity curve were converted to the final number of servo motor pulses by calling the modules of velocity interpolation, robot forward and reverse kinematics, coefficient transition and PID in turn, achieving the whole motion process.