Abstract
In order to improve the precision and safety of workpiece quality detection, this paper takes six degrees of freedom of industrial robots as the research object. We analyze the structure and parameters of each component, and study the trajectory planning method of industrial robot. Firstly, we use D-H parameter method to establish the link coordinate of industrial robot, and analyze the kinematics of the robot. Secondly, according to the parameters of the robot kinematics, the robot kinematics model is built by Robotics toolbox in Matlab, and the trajectory planning simulation is carried out. We conclude the angle, angular velocity and angular acceleration of each joint in the motion of the robot, and verify the feasibility of the trajectory planning. Finally, the path is carried out by the irb120 industrial robot, and the results of the experiments prove the correctness of the trajectory planning, which provides the basis for the study of the robot motion in the vibration coupling environment.
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