The Research Of 4-DOF Serial Manipulator’ Trajectory Planning

Now,robots have been used in various area in the world .The technological research of robot which is included basis and intelligent field is very important task. The basal research of robot is included kinematics, dynamics, trajectory planning, control system of sensors, technique of remote controlling and so on. The research of trajectory planning is more important and basal than others in the field of robots research.Taking the AS-M Robot which comes from Shanghai Grandar Robotics Co., Ltd. as the solid model, from the kinematics view, this paper primarily studies the trajectory planning of the 4-DOF serial manipulator. Trajectory planning can be conducted in plane and in space, and the primary research orientation of this paper is trajectory programming in plane. What is more, take the stroke font of the Chinese character as the research object, accomplishing the trajectory planning of the robot. This orientation has prodigious valuable significance and applicable prospect of the trajectory planning studying in the industrial robot and popular science education robot.The structure and theory of kinematics and performance parameter of AS-M Robot are analyzed in this article, and established coordinate of robot’s connecting bar using D-H method, and than calculated the directs and inverse solution of kinematics. In the condition of VC++, the calculation has been compiled and realized. Through the combinatorial arithmetic of tri-polynomial interpolation and tri-spline interpolation, the kinetic discipline of robot’s trajectory is planned, and deduced the relation between joints’angle and times. Through the calculation, the joints’angle of robot can be drawn in every time. And the arithmetic has been used writing. In the plane of AS-M Robot working, set up the incipient coordination dot of Chinese character’s strokes as“Heng, Shu, Pie, Na, Dian”. And the incipient coordination dot is treated as incipient position of robot’s gripper, and accomplished writing using interpolation arithmetic. During the robot working, when the acceleration of running joints is steady, the arithmetic of tri-polynomial interpolation can been transferred in program. Otherwise the arithmetic of tri-spline interpolation will be transferred. In this way, the objectives that a little calculated amount and steady movement and smooth trajectory of the combinatorial arithmetic will be reached during robot running. Through the experiment platform of AS-M Robot, the veracity and stability of trajectory planning can be verified using the program compiled under VC++.