Motion Planting And Control Platform Design Of A 6R Manipulator

6R manipulator is widely used in robotics field.It is highly automated and has been widely applied in industrial production and people's daily life.The kinematic analysis and trajectory planning of the manipulator have always been a hot spot in the field of robotics.In this paper,two different configurations of the laboratory manipulator as the research object,the 6R manipulator three joint axes intersect at one point of the special configuration and general configuration of the 6R manipulator kinematics model using D-H method and dual four element method respectively,and the positive and inverse kinematics analysis.Then,based on the actual connecting rod parameters of the 6R manipulator and the angle range of each joint,the working space of the manipulator is calculated based on the Monte Carlo method.Secondly,the method of 6R manipulator trajectory planning in joint space and Cartesian space,introduces two kinds of space line and circular arc trajectory planning algorithm,and the use of space line and circular interpolation algorithm in the Cartesian space space of 6R manipulator trajectory planning,and simulation experiments were carried out using Mathematica tools.Finally,the Visual Studio 2013 development platform based on the application of Windows Form(WinForm)framework and professional Unity3D engine,and the use of mixed programming of C#and Mathematica,developed a mechanical arm control platform,and the kinematics and trajectory planning algorithm into one,and realizes the 6R manipulator to complete data transmission the linear trajectory planning experiment,validated the correctness of modeling of mechanical arm and the forward and inverse kinematics analysis and trajectory planning algorithm.