Research On Trajectory Planning Of 6-DOF Manipulator Used For Stream Generator

Manipulator's trajectory planning plays an important role in controlling the manipulator. With the development of the science and technology, people's demand of the manipulator's performance becomes higher and higher, manipulators should not only be capable of moving in conventional PTP manner and simple CP manner, but also be capable of moving along a specified path of arbitrary shape at high velocity, in order to realize the less time in the motion. According to the requirements and constraints of the working environment 6-DOF manipulator used for stream generator works in, Bezier curve is used in trajectory planning in joint space, and the optimization of Bezier curve based on genetic algorithm is also proposed in this dissertation. This dissertation present the kinematic model of 6-DOF manipulator used for stream generator. The 4-3-4 and 3-5-3 interpolation trajectory calculation method are also introduced in the joint space. The method of the Bezier curve trajectory planning can make sure the manipulator working steadily in the course of its work, and solve the problem of the real-time characteristic. The path simulation algorithm based on the kinematics model is mainly implemented by the drawing function of Matlab.