Trajectory Planning And Kinematics Simulation Of Six Dof Manipulator

The robot arm is an important part of the interaction between the robot and the external environment.It can simulate the upper limbs of the human body to complete various operations.It is a frontier topic in the field of robotics research.In order for the robotic arm to complete the specified operation tasks more efficiently and quickly,it is generally necessary to plan the robotic arm more reasonably.Based on a broad understanding of various types of typical manipulators,this subject built a three-dimensional model of a manipulator with six degrees of freedom,and established the six-degree-of-freedom manipulator through the classic D-H parameter method.The kinematics equations of the robotic arm are studied,and the Jacobian matrix of the manipulator,as well as the forward and inverse kinematics solutions.Based on MATLAB2017b's Robotics Toolbox toolbox and D-H parameter method,the mathematical and simulation model of the robotic arm is established,and then forward kinematics simulation and inverse kinematics simulation are carried out by calling related functions.In the environment of MATLAB2017 b,the reachable working space of the manipulator was analyzed by Monte Carlo method.At the same time,high-order polynomial and particle swarm optimization were used to complete the trajectory planning and simulation of the manipulator joint space.Shows the movement of each joint of the robot arm in a more intuitive way.The research object of this topic is the six-degree-of-freedom manipulator in the laboratory.The establishment of the model involved in the manipulator,kinematic analysis and trajectory planning of the manipulator,optimization of running time under speed constraints are issues such as Conducted in-depth research.The main content of the paper is as follows:First,the standard D-H(Denavit-Hartenberg)parameter method is used to establish a mathematical model of the laboratory's six-degree-of-freedom tandem manipulator,and its forward and reverse kinematics are solved.Then,based on the MATLAB platform,the Monte Carlo algorithm is used to simulate the point cloud image of the reachable workspace of the manipulator.On the basis of the above,the trajectory planning of the robotic arm is divided into two categories: Cartesian space trajectory planning and joint space trajectory planning.Then solve the obtained results.Finally,in order to make the robot arm achieve the shortest running time under the speed constraint,the particle swarm optimization algorithm is used to optimize the time-optimized 3-5-3 degree polynomial interpolation trajectory planning method under the speed constraint.The shortest running time of the sixdegree-of-freedom manipulator under speed limit is obtained through simulation.The robot toolbox is used for real-time experiments on the simulation platform under the MATLAB environment to obtain the curves of the position,velocity and acceleration of each joint movement,compared with the traditional The high-order polynomial running effect proves that the method can effectively optimize the trajectory running time under any joint speed constraint.