Research on Trajectory Planning and Simulation of Industrial Robots Based on MATLAB-Robotics Toolbox

摘要

The paper analyzed and simulated on kinematic trajectory planning of industrial robots Cincinnati T3-746.Cubic polynomial interpolation and experimental method was used in joint trajectory planning on this robot.This experiment modeled on this robot,realized trajectory fitting and interpolation of any straight line and circular curve in working area by using MATLAB-Robotics Toolbox.By using kinematics and inverse kinematics solutions,this experiment gets real-time numerical solution in joint space coordinates.It provided theoretical basis for further research and application on industrial robots.