Kinematics Analysis and Trajectory Planning Simulation of Manipulator Based on AUBO-I5

摘要

In this paper, AUBO-I5 manipulator is used for kinematics analysis and trajectory planning. Firstly, the linkage coordinate system of AUBO-I5 manipulator is established by M-D-H method, and the homogeneous transformation matrix between corresponding coordinate systems is calculated. The kinematic modeling and analysis of the manipulator are carried out and the mapping relationship between joint space and Cartesian space is obtained. According to the principle of forward and inverse kinematics, the five-order interpolation trajectory planning of the manipulator is completed. The kinematics modeling and analysis can be divided into the solving process of forward and inverse kinematics. Forward kinematics mainly studies the process of mapping joint space to Cartesian space, that is, the pose information of the terminal axis coordinate system in the base coordinate system is calculated according to the joint Angle of the mechanical arm. The inverse kinematics mainly studies the process of mapping cartesian space to joint space, that is, given the pose information of the end-effector, the joint angles of the manipulator are calculated. The trajectory planning of the robotic arm is based on the forward and inverse kinematics calculation, which carries out the trajectory planning of the robotic arm from the starting point to the target point.