Workspace Solution and Space Trajectory Planning of 5-DOF Manipulator

摘要

Abstract In this paper, a 5-DOF manipulator is designed to carry the pipeline robot. The joint coordinate system and connecting rod parameters of the manipulator are confirmed by D-H method, and the kinematics model of the manipulator is established. The position and direction of the end of the manipulator are deduced by using the homogeneous transformation method. Monte Carlo method is used to solve the workspace of manipulator, and MATLAB is used to draw the workspace cloud map. Set the motion trajectory of manipulator, using joint space trajectory planning, through MATLAB simulation of motion form, get the change of joint. It provides a foundation for trajectory planning, dynamics analysis, motion control and parameter optimization of manipulator.