A fixed-distance Cartesian path planning algorithm for 6-DOF industrial robots

摘要

When an industrial robot moves, it needs a suitable trajectory to avoid collisions with other objects, to pass a predefined point in spatial coordinates and to achieve fast and accurate motion. Trajectory planning algorithms can be divided into two categories: the joint space-oriented and the Cartesian coordinate space-oriented. This paper presents a quick and efficient trajectory planning algorithm based on the Cartesian coordinates for 6-DOF industrial robots. By the simulation in MATLAB and verification on 6-DOF industrial robot platform, the fixed-distance algorithm can achieve speed control, position control and orientation control of the 6-DOF industrial robot. Compared with traditional algorithms, the portability, speed and control precision have gotten greatly improved.