Study On Trajectory Planning And Simulate Of Robot With Six Degrees Of Freedom

The robotic technology is the greatest innovation in the history of mankind, which had made great progress during the past40years since the60’s of the20th century. The robotic technology, as a cutting-edge discipline in the development of science and technology, will become an indispensable skill in social production and life of the future. But the robotic technology of our country has a little gap with that of advanced industrial nations. So,there has The text mainly discusses the trajectory planning and simulate of a kind of robot with six degrees of freedom.First, the thesis introduces the structure and basic technical parameters of the robot.On this basis, the thesis also introduces the design of hardware system just like motion controller and servo drivers which robot control system needs. The thesis also talk about the communication system and upper layer control software. Kinematics analysis stage of the robot with six degrees of freedom:this chapter mainly talks about foundations of mathematics of robot kinematics, spatial description and transformation of coordinates of the robot. We use D-H parameters method to describe coordinate direction and parameters of adjacent connecting rod. We also discuss the inverse kinematics of the robot.During the trajectory planning stage. We mainly discuss the interpolating of the curve. The stability and algorithm have the direct bearing on the running quality of the robot. So, the study on interpolating algorithm seems to be inevitable. The thesis introduces line interpolation and circular interpolation algorithm.Simulation stage:We make good use of MATLAB Robotics Toolbox, analyse the kinematics problems of the robot through invoking function and coding. Also, with the robotics toolbox, we draw the trajectory planning curve of the robot and we build the model of the robot and present it in the3D space.