Kinematics Analysis And Trajectory Planning Based On UR5 Mechanical Arm

With the development of industrial technology,the mechanical arm has gradually become one of the most automatic technology products in the industrial field.It can replace heavy labour to mechanize and automate production,and be able to work in a hazardous environment to protect people.Therefore,it is widely used in mechanical manufacturing,automobile,metallurgy,electronics,light industry and atomic energy industries.At present,kinematics analysis and trajectory planning of manipulator are important research directions,efficient and accurate inverse kinematics algorithm and fast and smooth trajectory are very important to improve the stability,precision and efficiency of manipulator.From these two aspects,this paper takes the UR5 manipulator as the research object,and carries out the following research work:On the basis of consulting relevant documents at home and abroad,using the representation method of position and pose of manipulator in space coordinate and the principle of homogeneous transformation,the kinematics model of six degrees of freedom UR5 manipulator is established by D-H standard method.The model of UR5 manipulator based on URDF platform is modeled,using Rviz3 D visualization platform to verify the effectiveness of the URDF model.The URDF file of the manipulator is configured with Moveit function package,the virtual simulation model is provided for the kinematics analysis and trajectory planning algorithm of the rear UR5 arm.The inverse kinematics of the manipulator is difficult to solve and the precision is poor,a BP neural network method to solve inverse kinematics is proposed to improve the excitation function of hidden layer.Simulation results show that this method has faster convergence speed and higher precision than standard BP neural network method,can solve inverse kinematics problem effectively.On the basis of introducing the principle of trajectory planning of manipulator,the method and flow of trajectory planning in joint space and Cartesian space are discussed.A trajectory planning method based on combination functions is proposed,The joint angle of the end actuator of the manipulator in the joint space is obtained by inverse kinematics.Under the condition of satisfying the constraint,simulation experiment of UR5 manipulator motion using Gazebo physical simulation platform.Experimental results show that the trajectory is more stable,can reduce the impact and wear of the manipulator joints,and provide a theoretical basis for the control of the manipulator.