Analysis on the Trajectory Planning and Simulation of Six Degrees of Freedom Manipulator

Abstract

In the trajectory planning simulation of the six-degree-of-freedom robotic arm, it is difficult to intuitively verify the correctness of kinematics algorithm and the effect of trajectory planning. Based on the correct establishment of the mathematical model of the robot arm, the robot arm in the joint space is mainly analyzed. The trajectory planning method was implemented and verified by simulation. The trajectory planning algorithm designed in this paper can calculate the expected trajectory of the end-effector of the 6-DOF manipulator based on the user's job task requirements. Because the trajectory control of the six-degrees-of-freedom robotic arm is ultimately achieved through the trajectory of six joints, the algorithm converts the trajectory into the expected trajectory of the six joints. It is used as position information and sent to the corresponding joint controller in real time. In this way, the motion control of the six-degree-of-freedom robotic arm is achieved. Firstly, the MATLAB-based six-degree-of-freedom robotic arm simulation model was established using D-H algorithm, and the trajectory planning theory was analyzed by the quantum ant colony algorithm. Then the MATLAB Robotics Toolbox was used to simulate the trajectory planning.