Analysis of inverse kinematics method for six degrees of freedom manipulator based on MATLAB

摘要

In this paper, the kinematics model of six-DOF manipulator is established by D-H parameter method, and the joint space method is used to carry out trajectory planning. Then, we use the Robotics Toolbox of Matlab to solve the inverse kinematics of each trajectory curve, the joint angle curves draw on the time axis exist local mutation, and then adopt the inverse kinematics method based on the fsolve function, the resulting joint angle curves are both continuous and smooth, which solves the mutation problem. Finally, the Fourier function is used to fit the joint angle curves to generate functions of them, from which the Actual trajectory curve is obtained is close to the theoretical trajectory curve and the coincidence degree is high.