Research on Joint Space Trajectory Planning of SCARA Robot Based on SimMechanics

摘要

Aiming at the problem of multi-positon solution and trajectory planning optimization of SCARA robot, the kinematics model of SCARA robot is established based on D-H method. According to the two attitude solutions of upper and lower elbows after the robot passes through the singular point, two groups of trajectory planning are obtained by polynomial interpolation method based on joint space. The 3D Solidworks model of SCARA robot is imported into SimMechanics to carry out the trajectory planning experiment. By comparing the experimental data of trajectory planning under upper and lower elbow pose solutions, the feasibility of the optimal selection method of joint angle integral summation in trajectory planning of SCAR robot is verified.