Simulation Research On Trajectory Planning Of A 6-DOF Robotic Arm

With the development of industry and social progress in the 21 st century,the application of robotic arms plays a key role in improving the efficiency of industrial production.The mechanical arm uses joints to cooperate with the movement of the end effector to complete the work,so it is necessary to study its kinematics and follow-up trajectory planning.Good trajectory planning can effectively reduce the vibration problem of the robotic arm during operation,ensure the stable work of the robotic arm,and improve its working efficiency.The research object of this paper is the KUKA KR3R540 robotic arm.The specific research contents are as follows:The mathematical basic theory of three-dimensional space pose description and coordinate transformation of the robotic arm is studied;use the standard D-H parameter method to analyze and draw the link coordinate system of the KUKA KR3 R540 robotic arm;apply the algebraic method to deduce the forward and reverse kinematics formula of the robotic arm in this paper;the working space method of the robotic arm based on the Monte Carlo method was studied,and the working area simulation of the KUKA KR3R540 robotic arm was realized;the above researches were simulated and verified on MATLAB and Robotics Toolbox respectively.From the perspective of Cartesian space trajectory planning,the spatial linear interpolation and spatial circular interpolation algorithms are studied,and the trajectory of the end effector is planned;from the point of view of joint space trajectory planning,the third and fifth degree polynomial interpolation algorithms are studied,the joint angle,velocity and acceleration of each joint are planned,and the advantages and disadvantages of the two methods are analyzed.According to the advantages of the above two methods,the 3-5-3 segmental polynomial interpolation method is used to realize the trajectory planning of the intermediate waypoints.Finally,the comparison of simulation experiments on the KUKA KR3 R540 robotic arm proves that the use of 3-5-3 points The segment polynomial interpolation method can make the robotic arm run smoothly.Particle swarm optimization is one of the intelligent algorithms commonly used for trajectory optimization of manipulator.It has the defect of premature convergence and falling into local optimal in the solving process,this paper proposes an improved particle swarm optimization algorithm,which introduces nonlinear inertia weights and learning factors to replace traditional fixed values,improving convergence speed and accuracy.Four benchmark functions are used to test the effectiveness of the improved algorithm.On the basis of 3-5-3 segmental polynomial interpolation trajectory planning,considering the constraints of joint velocity and acceleration,the improved particle swarm optimization algorithm is used to optimize the three-stage running time of each joint of the robotic arm.Through MATLAB simulation verification,the running time of the robotic arm is shortened from 12 s to 7.7853 s,and the goal of time-optimal trajectory planning is realized.