Trajectory Planning and Control of Manipulator Based on B-spline Curve

Abstract

In order to improve the stability and efficiency of excavator manipulator, a trajectory planning method is proposed. Firstly, the Denavit-Hartenberg (D-H) method was used to establish the kinematic coordinate system of the manipulator, then the forward and inverse kinematics analysis is carried out, and the kinematics model of the manipulator is obtained. Trajectory planning of manipulator using improved B-spline curve algorithm in joint space. At this point, the robot arm can automatically run from the starting point to the ending point according to the pre-set, to achieve the goal of automatic control. The simulation results show that using b-spline curve algorithm to control the manipulator can make all joints run synchronously, continuously and smoothly.