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首页> 外文期刊>International journal of wireless and mobile computing >Trajectory planning algorithm and simulation of 6-DOF manipulator
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Trajectory planning algorithm and simulation of 6-DOF manipulator

机译：六自由度机械臂的轨迹规划算法与仿真

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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.
机译：为了解决三次多项式轨迹规划算法中的联合加速度突变问题，研究了五次多项式轨迹规划算法。结果表明，五次多项式轨迹规划算法的计算量较大，可以保证角加速度的连续性和电动机的稳定运行。通过使用空间线和空间弧插值算法在笛卡尔空间中执行轨迹规划。利用MATLAB机器人工具箱对运动系统进行建模和仿真，验证了线性插补和圆弧插补算法的正确性和可行性。

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  • 作者

    Jiabing Hu; Ying Sun; Gongfa Li; Guozhang Jiang; Jianyi Kong; Hegen Xiong; Zujia Zheng; Du Jiang;

  • 作者单位

    Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China;

    Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China,Biological Manipulators and Intelligent Measurement of Control Research Center, Wuhan University of Science and Technology, Wuhan 430081, China;

    Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China,Biological Manipulators and Intelligent Measurement of Control Research Center, Wuhan University of Science and Technology, Wuhan 430081, China;

    Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China,Biological Manipulators and Intelligent Measurement of Control Research Center, Wuhan University of Science and Technology, Wuhan 430081, China;

    Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China,Biological Manipulators and Intelligent Measurement of Control Research Center, Wuhan University of Science and Technology, Wuhan 430081, China;

    Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China,Biological Manipulators and Intelligent Measurement of Control Research Center, Wuhan University of Science and Technology, Wuhan 430081, China;

    Key Laboratory of Metallurgical Equipment and Control Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, China,Infrastructure and Logistics Management, Wuhan University of Science and Technology, Wuhan 430081, China;

    Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, Wuhan University of Science and Technology, Wuhan 430081, China;

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  • 正文语种 eng
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  • 关键词

    manipulator; trajectory planning; Cartesian space; joint space; motion simulation;

    机译：机械臂;轨迹规划;笛卡尔空间;关节空间;运动仿真;

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