Trajectory Planning for 6-DOF Robotic Arm Based on Quintic Polynormial

摘要

The paper deals with research on polynomial trajectory planning for 6-DOF robotic arm. On the basis of kinematics analysis, we carried out trajectory planning and simulation of joint space. Through the trajectory planning diagrams of MATLAB simulation on the two methods, the results showed that quintic polynomial is better than cubic polynomial in the effect of planning. As a result, this method used in six degrees of freedom industrial robot trajectory planning is feasible.