Research On Trajectory Planning And Simulation Of 6-DOF Manipulator

With the development of electromechanical integration technology,in order to meet the complex and variability of the working environment of the manipulator,the products are developing to the fields of intelligent,lightweight cooperation and human-machine cooperation.Especially,the lightweight cooperative manipulator can fulfill the requirements of lightweight and miniaturization.In this paper,the trajectory planning and Simulation of the manipulator in the joint space is carried out in view of the performance of the 5kg lightweight cooperative manipulator.In order to avoid resonance during the movement of the actual manipulator,it is necessary to select a suitable interpolation method for the trajectory planning of the manipulator.Firstly,the mathematical model of the manipulator is established by using the D-H method.Then,the forward and inverse kinematics are analyzed.Finally,the working space of the manipulator is analyzed by Monte Carlo method.On this basis,three degree polynomial,five degree polynomial and 3-5-3 piecewise polynomial interpolation are adopted trajectory planning.The results show that 3-5-3 piecewise polynomial interpolation can avoid resonance and ensure stable operation of the manipulator.However,the characteristics of 3-5-3 piecewise polynomial interpolation can not shorten the running time of the manipulator.Therefore,the particle swarm optimization algorithm with few parameters and easy implementation is introduced for this problem,that is PSO time optimal trajectory planning method.The method is used to study the first three joints trajectory of the manipulator,and compared with the 3-5-3 piecewise polynomial interpolation method.Finally,the simulation results show that the optimization algorithm shortens the running time 2.3 second in this paper,and achieved the expected result.