Trajectory Planning Control of Robotic Arm Based on MQTT and PID Algorithm

Abstract

The six-degree-of-freedom robotic arm is renowned for its high flexibility, excellent programmability, substantial load capacity, exceptional precision, and broad range of applications. It represents a crucial research avenue in the analysis and study of robotic arms. The objective of this paper is to investigate the trajectory analysis and control mechanisms for a six-degree-of-freedom robotic arm. To establish the correlation between the end position of the robotic arm and each joint angle, we conduct kinematic analysis and simulate trajectory planning. Additionally, we construct a wireless communication platform based on the MQTT protocol. This platform eliminates the need for extensive wiring between the host computer and the robotic arm’s control system, thereby enhancing control efficiency. For precise positioning at the robotic arm’s end, we employ the PID (Proportional-Integral-Derivative) algorithm. Finally, we create an experimental platform featuring a six-degree-of-freedom robotic arm to execute trajectory planning and physical grasping experiments. Our results demonstrate that the MQTT-based wireless communication platform significantly improves control efficiency, while the PID algorithm ensures more accurate target positioning.