Modeling And Trajectory Planning Of Intelligent Manipulator

With the wide application of mechanical arms in industry,aerospace and other fields,the motion control and precision of mechanical arms have gradually attracted the attention of relevant researchers.Kinematic modeling and solving of manipulator is the basic link of motion control,and trajectory planning represented by linear trajectory and circular trajectory is also an important aspect of manipulator motion control.In order to study this kind of problem,an intelligent robot arm model is designed to simulate the actual robot arm sequencing and placing objects.The specific mechanical structure and circuit of the manipulator are designed.A mathematical model of D-H parameters was established for the manipulator,and on the basis of the model,the transformation matrix between coordinate systems was established by using the pose matrix,that is,the forward kinematics solution.At the same time,according to the parameters of the manipulator,the inverse kinematics of the manipulator was solved by geometric method,and the results of the forward and inverse kinematics were finally simulated by software.According to the different position and trajectory of actuator,two different trajectory planning methods were designed.Bresenham algorithm was used for linear trajectory planning at actuator end,and polynomial fitting algorithm was used for circular trajectory and joint steering Angle planning Simulation experiments were designed to verify the feasibility of forward and inverse kinematics solutions and two kinds of motion planning,and the advantages and disadvantages of two kinds of motion planning were analyzed.The step number compensation optimization was designed to overcome the disadvantage of Bresenham algorithm that the speed might change during starting and braking,and its influence was verified by simulation experiment.Finally,the driver program of each peripheral hardware and the program flow of the main controller are designed.The simulation results verify that the forward and inverse kinematics solutions are correct,the motion planning scheme can meet the path requirements,and the step compensation optimization reduces the speed requirements of starting using Bresenham algorithm.The forward and inverse kinematics solution scheme,motion planning scheme and step compensation optimization of the design are feasible.