Open AccessResearch on Motion Path Planning of Six Degrees of Freedom Robot Based on Fuzzy Control Algorithm
Author(s) -
Qi Liu,
Baohua Li,
Ying Wang,
Gou yao,
Shuo Li,
Kai Liang
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/631/5/052027
Subject(s) - motion planning , trajectory , robot , control theory (sociology) , computer science , matlab , industrial robot , control engineering , fuzzy control system , actuator , process (computing) , fuzzy logic , path (computing) , control (management) , engineering , artificial intelligence , physics , astronomy , operating system , programming language
Aiming at the trajectory planning problem of six-degree-of-freedom industrial robot in fixed space, this paper extends the trajectory optimization to the actuator control optimization of each joint of industrial robot. At the same time, the control algorithm of each joint steering gear of the robot under the specified path is given. Finally, the whole control strategy is simulated by the software of matlab, and the simulation results are good. The trajectory planning method of six-degree-of-freedom industrial robots proposed in this paper can be used for reference in general industrial process control.