Research Of Trajectory Planning Of The Transfer Manipulator Based On Cartesian Spaceapplication Of The

This paper mainly presents the focus on straight-line and arc trajectory planning of4-DOF transfer manipulator based on Cartesian space.Basing on the kinematics of the manipulator, this paper presents the solutions of theforward kinematics and the inverse kinematics. And then, the trajectory planning theories andalgorithms based on Cartesian space are discussed. To achieve the maximum and continuousacceleration restrictions,the geometic shape restrictions in trajectory curves of themannipulator ends, some algorithms are worked out in this paper.In studying the trajectory planning of the Acc/Dec process in the stage of the starting orending of the manipulator ends, a new algorithm of sine-shape Acc/Dec is presented.Thisalgorithm features a smooth speed-time curve which make the motion of the manipulator endssmooth.Based on quintic polynomial tranistion theory, double-quintic polynomial algorithm ispresented to accomplish the continuity and maximum restriction in acceleration andgeometric shape restriction in trasition stage of conjoint curves of the manipulator ends.To accommdate the constant speed and boundary speed of transition, a algorithm ofsine-shape Acc/Dec of speed trasition is worked out in this paper.In the orientation plan of manipulator, the paper uses a quintic to provide the trajectorywhich also achives continuous acceleration.The algorithms dicussed above achieve some benefits in the motion of manipulatorends.such as improving the manipulator performance by reducing vibration and wear.And the algorithms are released in VC++6.0IDE, which using the OOP promgrammingtechnology to promoting the performance in expansibility and encapsulation of thealgorithms.With the OpenGL technology, a software is deveploment to enable the simulationof the trajectory planning using the algorithms.