The Research Of Robot's Trajectory Planning

Trajectory Planning has quite important effects for robot's high efficient and stable motion. Though trajectory planning, robot can not only motion stably, but also avoid vibration and impact. It is quite significant to improve the robot's stability, reliability and work efficiency. The robot studied in this thesis is a 3-DOF manipulator which is developed by our laboratory. The methods of trajectory planning based on joint space are profoundly studied.In this paper, combined curve,asymmetry and continuous jerk curve are first adopted to trajectory planning. Through research and analysis of several combined curves, pointed out the basic principles of trajectory planning in joint space and the key indicators to measure characteristic curve of trajectory planning. At the same time, The higher derivative of trajectory planning curve should be continued. The displacement, velocity and acceleration of trajectory planning curve also should be continued.3-DOF manipulator had been developed. Machinery, hardware and software of 3-DOF manipulator had been developed. Matlab was used to do simulation analysis of the combined curve, Pro/Engineer was used to do mechanical design, and Visual C++ was used to prepare PC control software. The experimental platform which was composed of 3-DOF manipulator and vibration teaching system used to verification combined curve. At last, the experimental results show that the means which are proposed in this paper are feasible and effective.