Trajectory planning algorithm and simulation of 6-DOF manipulator

被引：0
|
作者：
Hu J. [1 ]
Sun Y. [1 ,2 ]
Li G. [1 ,2 ]
Jiang G. [1 ,2 ]
Kong J. [1 ,2 ]
Xiong H. [1 ,2 ]
Zheng Z. [1 ,3 ]
Jiang D. [4 ]
机构：
[1] Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan
[2] Biological Manipulators and Intelligent Measurement of Control Research Center, Wuhan University of Science and Technology, Wuhan
[3] Infrastructure and Logistics Management, Wuhan University of Science and Technology, Wuhan
[4] Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan
来源：
International Journal of Wireless and Mobile Computing | 2018年 / 14卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Cartesian space; Joint space; Manipulator; Motion simulation; Trajectory planning;
D O I：
10.1504/IJWMC.2018.091140
中图分类号：
学科分类号：
摘要：
In order to solve the problem of joint acceleration mutation in the cubic polynomial trajectory planning algorithm, the algorithm of the quintic polynomial trajectory planning is studied. The results show that the calculation of quintic polynomial trajectory planning algorithm is relatively heavy, and it can ensure the continuity of angular acceleration and stable operation of motor. Trajectory planning is carried out in Cartesian space by using the spatial line and the spatial arc interpolation algorithm. MATLAB robotics toolbox is used to model the motion system and simulate the motion, which verifies the correctness and feasibility of the linear interpolation and circular interpolation algorithm. © 2018 Inderscience Enterprises Ltd.
引用
收藏
页码：138 / 148
页数：10
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