Title: Trajectory planning algorithm and simulation of 6-DOF manipulator

Authors: Jiabing Hu; Ying Sun; Gongfa Li; Guozhang Jiang; Jianyi Kong; Hegen Xiong; Zujia Zheng; Du Jiang

Addresses: Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Biological Manipulators and Intelligent Measurement of Control Research Center, Wuhan University of Science and Technology, Wuhan 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Biological Manipulators and Intelligent Measurement of Control Research Center, Wuhan University of Science and Technology, Wuhan 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Biological Manipulators and Intelligent Measurement of Control Research Center, Wuhan University of Science and Technology, Wuhan 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Biological Manipulators and Intelligent Measurement of Control Research Center, Wuhan University of Science and Technology, Wuhan 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Biological Manipulators and Intelligent Measurement of Control Research Center, Wuhan University of Science and Technology, Wuhan 430081, China ' Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China; Infrastructure and Logistics Management, Wuhan University of Science and Technology, Wuhan 430081, China ' Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan 430081, China

Abstract: In order to solve the problem of joint acceleration mutation in the cubic polynomial trajectory planning algorithm, the algorithm of the quintic polynomial trajectory planning is studied. The results show that the calculation of quintic polynomial trajectory planning algorithm is relatively heavy, and it can ensure the continuity of angular acceleration and stable operation of motor. Trajectory planning is carried out in Cartesian space by using the spatial line and the spatial arc interpolation algorithm. MATLAB robotics toolbox is used to model the motion system and simulate the motion, which verifies the correctness and feasibility of the linear interpolation and circular interpolation algorithm.

Keywords: manipulator; trajectory planning; Cartesian space; joint space; motion simulation.

DOI: 10.1504/IJWMC.2018.091140

International Journal of Wireless and Mobile Computing, 2018 Vol.14 No.2, pp.138 - 148

Received: 16 Sep 2017
Accepted: 19 Dec 2017

Published online: 06 Apr 2018 *

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