Control Algorithm Research Of Six-axis Robot Arm Trajectory Based On Arduino

With the continuous and rapid development of technology and society,robots have gradually participated in people’s actual work,and have greatly changed the way people live and produce.The robot arm is the most important device in the robot,so it is particularly meaningful to delve into the relevant knowledge of the robot arm.This article is studying a robotic arm with six rotary joints.Its first three rotation axes can make the end gripper reach the specified position,and the last three rotation axes can make the end gripper reach a certain attitude.Aiming at the actual six-axis manipulator model,this paper creates a mathematical model of the six-axis manipulator according to the standard DH modeling method,pushes forward the calculation process of the positive kinematics problem,and simulates the six-axis machine on MATLAB based on the DH parameter table The arm model further proves that the previous analytical solution process is error-free.Then,using the established model,the working space of the six-degree-of-freedom robotic arm was drawn using numerical methods and Monte Carlo algorithm.The results show that the numerical method is more accurate in calculating the results,but this method takes a long time and cannot meet the job tasks that require high efficiency.The Monte Carlo method takes a short time,although it can not get the real results,but As long as the amount of data is large enough,very accurate results can also be obtained.Then the BP neural network method is used to calculate the corresponding inverse solution of the six-axis manipulator in a specific posture.The results show that this method can accurately and quickly find the inverse solution of the six-axis manipulator,which is in line with the system’s inverse solution.Precision requirements.Then the kinematics algorithm is applied to the actual six-axis robotic arm model,which can control the motion of the robotic arm,and implements the example of moving the workpiece with the robotic arm.Next,the trajectory planning of the manipulator in rectangular coordinates and joint coordinates are introduced in detail.For joint space,we focus on the analysis of cubic and fifth-degree polynomial trajectory planning and complete simulation experiments.The cubic polynomial traj ectory planning algorithm involves four unknown coefficients,so its solution process is relatively simple and fast,but the running results show that this algorithm does not allow continuous angular acceleration;the fifth-degree polynomial trajectory planning algorithm involves six unknown parameters.The solution process is relatively difficult and complicated,but the operation results show that this algorithm can keep the angular acceleration continuous,thereby ensuring the stable rotation of the motor.For Cartesian space,the circular interpolation method and the linear interpolation method are studied separately.In the simulation experiment,the coordinates of the known points are used to draw the space arc path and the space straight path,so that the robotic arm can realize the following the task that specifies a path for movement.