Research on Trajectory Planning Method for 6-DOF Manipulator
Aiming at the problem that the linear interpolation method with parabolic transition has too large impact when the acceleration segment and the linear segment join,a linear interpolation trajectory planning method with second and third degree polynomial mixed tran-sition is proposed.By adding a cubic polynomial curve in the time neighborhood of the moment when the impact changes violently,the ac-celeration can be continuously changed,and the impact on the joints of the manipulator is weakened at this time.The trajectory curve e-quation of the proposed trajectory planning method is given.MATLAB is used to simulate the joint space of the 6-DOF manipulator joint,and the two trajectory planning methods are compared and analyzed in terms of Angle and angular acceleration.The simulation results show that the proposed method can effectively weaken the impact effect on joints.
NETL
NSTL
万方数据
维普
