Trajectory Planning Of Five DOF Manipulator For Mobile Robot

The mobile robot consists of a mobile platform and an actuator mounted on the mobile platform.However,the mobile robot used in the field of industrial manufacturing is usually implemented as a five-DOF manipulator,which is called a mobile manipulator.To some extent,Overcome the shortcomings of the fixed base robot arm working space is limited,both the mobility and the operation of the manipulator.The object of this paper is a five-DOF serial manipulator on a mobile robot base(horizontal rail).The D-H parametric method is used to establish the parametric model of the manipulator to analyze the kinematics of the five-DOF manipulator.The transformation matrix(A matrix)from the base of the moving robot to the adjacent joints of the manipulator is obtained,The total kinematic equation.According to the structural features of the manipulator,the inverse kinematics of the manipulator is obtained by the method of geometry.Based on Matlab Sim Mechanics visualization tool,the five-DOF manipulator simulation model was established.In the range of joint limits,a large number of random joint angle parameters can be obtained by changing the driving signal parameters of each joint of the robot to generate the coordinate data of the corresponding execution end in Cartesian space by using the Matlab drawing function.The comprehensive analysis includes the merits and demerits of various trajectory planning methods based on joint space and Cartesian space,including linear segment interpolation of parabola,fifth-order polynomial interpolation,high-order polynomial interpolation and cubic spline interpolation,In order to reduce the vibration and impact during robot movement,extend the service life of robots and improve the precision of trajectory planning,the cubic non-uniform B-spline curves are used to interpolate Cartesian space.Five non-uniform B-spline curves Joint space interpolation method for trajectory planning.According to the needs of enterprises,aiming at the specific technological process in the actual production process,three non-uniform B-spline curves are used to interpolate Cartesian space,five non-uniform B-spline curves are used to interpolate the joint space,planning.Using matlab robotics toolbox,the trajectory planning and simulation of five-DOF manipulator is carried out.Based on the PSO particle swarm optimization algorithm,the shortest integration time and the minimum impact are the optimal targets.The planning results of the five-DOF manipulator are carried out optimization.The simulation results verify that the trajectory planning method can reduce the impact in a reasonable time.