Research On Trajectory Planning Algorithm And Control System For Articulated Service Robot Arm

Following social progress, the robot plays an increasing important role in human’s life. Meanwhile, the research on robot is growing intensity, among which,the service robot is becoming the hot spot recently. The paper made an intensive study of the arm trajectory planning algorithm and the control system of the service robot.According to the requirement of the paper, the coordinate system has been established which aimed at the arm of the service robot to find the positive and inverse kinematic equations based on the mathematical theory.The arm trajectory planning algorithm has been elaborated in the paper. The paper discussed the Polynomial interpolation method and the cubic B spline function interpolation method, made the simulation of them through the MATLAB, meanwhile, the paper also purposed a new trajectory planning algorithm mixed the fifth-degree polynomials and cubic B spline function, it verifies the algorithm by simulation experiment in the joint space.In addition, the paper analyzed the space linear interpolation method and the space circular arc interpolation method, made the simulation of them through the MATLAB, purposed a new speed continuous space linear interpolation algorithm based on the space circular arc transition, it verifies the algorithm by simulation experiment in the cartesian space.The paper designed a control system of the arm of the service robot, finished the software and hardware platform which set the PC and FPGA at the core, and verified its reliability and stability through the experiment.