Trajectory Planning and Control of Handling Robot Manipulator

摘要

Abstract In view of the lack of automation of the current material handling measures, based on a brief introduction to the structure of the handling robot, this article mainly studies the trajectory planning and control of the manipulator. First, the basic structure of the manipulator is simplified, the joint coordinate system of the robot arm is established by the Denavit-Hartenberg (D-H) method, and then the kinematics forward and inverse solution model is obtained by analysis. The fifth-order polynomial interpolation algorithm is used to plan the space trajectory of the rotating joint, and Matlab is applied to perform modeling and simulation to verify the rationality of the robot structure design and obtain the motion trajectory and each rotation of the mechanical claw end in the space rectangular coordinate system. Experiments on the motion curve, velocity curve and acceleration curve of the joint are implemented. Finally, the manipulator is controlled by the single-chip microcomputer, and the theoretical model data and trajectory are practiced. Practical results show that the control after trajectory planning reduces the loss of the manipulator and the overall accuracy and stability are higher.