Kinematics Analysis and Trajectory Planning of UR5 Robot

Abstract

With the expansion of the application scope of robot technology, the technical requirements are getting higher and higher. In order to achieve the precise control and trajectory planning of the robot, the kinematics and dynamics problems need to be studied. In this paper, the forward and reverse kinematics equations of UR5 robot are established by D-H method. The dynamics of the manipulator are analyzed using the Lagrange method. Utilizing the cubic polynomial interpolation method, the trajectory of linear motion is planned, and the linear motion trajectory is jointly simulated and analyzed based on ADAMS and MATLAB. The curves of angle, angular velocity, angular acceleration and torque with time are obtained. These findings establish the theoretical groundwork for future research on the precise control of the manipulator.