Motion path planning of 6-DOF industrial robot based on fuzzy control algorithm
Huanbing Gao, Shouyin Lu, Tao Wang
Abstract
The fuzzy control algorithm is used to establish the relation between the functions of motion of 6-DOF (degree of freedom) industrial robots on the rotation angle of each joint. The algorithm optimizes the motion path of the robot, thereby accelerating the increase in industrial productivity and promoting the development of industrial production. During the motions, the 6-DOF industrial robots have weak avoidance ability toward the encountered obstacles, which is not conducive to the safe production and will reduce industrial efficiency. Therefore, by analyzing and summarizing the previous researches, the fuzzy control algorithm is used to construct and optimize the kinematics model, thereby proposing a method of robot motion path planning. Also, based on the unstructured operating environment, a multi-functional motion navigation system for 6-DOF industrial robots is proposed. The experimental results show that the fuzzy control algorithm can optimize the robot motion path, shorten the time of motion, and make the robots reach the destinations smoothly. The algorithm can avoid safety accidents in industrial production effectively, reduce casualties, improve industrial productivity, and promote the optimized allocation of human resources. The motion system of 6-DOF industrial robot based on fuzzy control algorithm has excellent practicability, which can promote the development of industrial production effectively and be widely applied to industrial production.