Research on Kinematics and Trajectory Planning for 6-DOF Industrial Robot

摘要

The industrial robot is a typical electromechanical integration equipment constituted by operating machine, controller, servo drive system and the detection of sensing device. It is one of the most common industrial robots in the industrial field, which makes it work in almost any track or angle. This paper mainly presents the research on kinematics and trajectory planning for 6-DOF industrial robot. This study has finished the linear interpolation and arc interpolation in the Cartesian space. According to the advantages and disadvantages, this paper proposes the method of quadratic interpolation that meets the demands of 6-DOF industrial robot motion in the joints space and Cartesian space which ensures that the motion of 6-DOF industrial robot is smooth and stable.