Trajectory Planning and Simulating on 7-DOF Robot Applied to Nuclear Industry

Abstract

For the sake of smooth and successive motion of this 7-DOF robot, a five-order polynomial is adopted to interpolation of trajectory. Compared with resolving inverse Jacobian matrix, this method can avoid the complex computation of coordinate transition, which results in greatly improving the control speed in time. Based on the actual detected spatial intersected curve, the simulations to the angle-displacement, velocity and acceleration of 4 joints are done. The results show: the curves of velocity and acceleration are smooth and successive. From this, that a five polynomial interpolation function is appropriate to the 7-DOF robot has been illuminated.