Trajectory Planning for Seven-DOF Robotic Arm Based on Quintic Polynormial

Abstract

Trajectory planning ensures that the robot arm moves smoothly and quickly to the target position. The difficulty is to use inverse kinematics to convert the path point into the joint angle and fit a smooth function to each joint. This paper studies the polynomial trajectory planning of the seven-DOF cooperative robot KUKA LBR iiwa. Kinematics of robot arm is analyzed in the coordinate system established by denavit-hartenberg method. In the joint space, the trajectory planning of the robot arm is performed using the cubic polynomial and the quintic polynomial function. The simulation results show that the quintic polynomial method effectively solves the problem of acceleration discontinuity, and obtains a continuous smooth trajectory curve of each joint, which visually verifies the effect of trajectory planning and provides an efficient and feasible trajectory planning method.