Kinematic Analysis and Trajectory Planning Based on Six Axis Robots
To enhance the operational efficiency of the robotic arm and maintain a consistent and uninter-rupted trajectory,it is necessary to undertake a kinematic analysis and time-optimal trajectory planning.This article focuses on the study of the Hans E05 collaborative robot,builds a robot kinematic model using the D-H parameter method,and performs both the forward and inverse kinematic analyses.Using the enhanced particle swarm optimization algorithm,this study optimizes the time for the 3-5-3 segmented polynomial in-terpolation trajectory planning model of the robotic arm.A simulation model of the robotic arm is construc-ted using the Robotics Toolbox in MATLAB,and trajectory planning simulation experiments are per-formed.The experimental results show a precise solution of the robotic arm's inverse kinematics.The traj-ectory planning algorithm is dependable,and the planning time decreases by 53%compared to pre-optimi-zation.The planned motion trajectory is smooth and continuous without sudden changes.
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