Kinematic Modeling and Simulation Performance Analysis of Industrial Robot arm Based on Six Degrees of Freedom
In order to optimize the dynamic performance of a 6-DOF manipulator and reduce the joint instability and trajectory deviation caused by sharp changes in angular velocity and angular acceleration,the seventh-degree polynomial interpolation algorithm was used to plan the trajectory of each joint.Firstly,standard D-H(Denavit Hartenberg)parameter method was used to simulate the 6-DOF robotic arm and analyze its forward and inverse kinematics.Secondly,Monte Carlo method was used to visualize the working range of the 6-DOF robotic arm and determine the accessible working space of the 6-DOF robotic arm.Combined with the motion time,position,speed and acceleration of the manipulator,seventh-degree polynomial interpolation algorithm was used to plan the trajectory of the six-degree-of-freedom manipulator.The trajectory of the joint motion was smooth and smooth,which effectively solved the mutation points of speed,acceleration and even higher order dynamic parameters,improved the accuracy of the manipulator's motion and reduced the hardware loss,and had practical value.
万方数据
维普
