Six Degrees Of Freedom Manipulator Trajectory Planning Studies

With the rapid development of economy, the robot applications in industrial production and daily life becomes more widely. Six degrees of freedom manipulator in industrial production accounts for a very high proportion. In the study of industrial robotics, the robot kinematics occupies a very important position, and the robot motion analysis is the foundation of trajectory planning. Research based on kinematic robot trajectory planning model has very important theoretical and practical value.This thesis discusses the overview of domestic and foreign industrial robots, and presents the research status of trajectory planning. Choosing the six degrees of freedom manipulator as the research object, and the establishment of a robot kinematics model can help us to study the trajectory planning algorithm. The main work and results are as follows:Firstly, we introduces the topic of research significance and research background, based on a number of references related, introduced the process and the development status of industrial robot development in China and other global robot powers. and introduces the history of trajectory planning problems and Research Status;Secondly, we describes the parameters of each link arm, the establishment of each link coordinate system, as well as the translation transform between coordinate systems based on kinematic analysis of the manipulator and DH parameter method modeling;Thirdly, we describes the joint space trajectory planning in Cartesian space and manipulator trajectory planning method based on a combination of curves. Researching the transition to a combination of trajectory on the basic of infrastructure linear interpolation and circular interpolation.Then, NURBS interpolation algorithm is applied to industrial robot trajectory planning.Expressing the complex scribble with a small a mount of data accurately. In order to ensure the accuracy of interpolation, we increases the chord error to constrain the interpolation step based on NURBS algorithm. The improved algorithm is simulated by MATLAB and obtains a goodeffect, proves the effectiveness of the algorithm in the trajectory planning.Lastly, Summary and outlook are given.