Trajectory Planning of 6-DOF Manipulator Based on Joint Space

摘要

With the continuous progress of technology, various industrial fields are gradually pursuing automation and intelligence, and robot technology is also flourishing. Due to the widespread application of manipulator in industrial manufacturing and service industries, the design of manipulator control systems has also become a research highlight. To control manipulator efficiently, STM32 is used as the main controller to design the trajectory planning algorithm for the manipulator. Firstly, the standard D-H parameter method is used to establish the linkage coordinate system of the six degree of freedom robotic arm used in this paper, and its D-H parameters were obtained. Secondly, the trajectory planning of the robotic arm was simulated using the joint space cubic polynomial interpolation method and the fifth degree polynomial interpolation method, and the advantages and disadvantages of the two methods were compared. Finally, a comprehensive experiment was conducted on object grasping. The experimental results show that the trajectory planning algorithm designed in this paper can enable the robotic arm to smoothly and smoothly complete the object grasping task.