Robot Trajectory Planning and Simulation Based on Matlab Robotics Toolbox

摘要

The trajectory planning of robots refers to the motion design of the pose, velocity, and acceleration of the end effector (robot operating arm) in spatial motion. According to the requirements of the robot's task, the end effector moves along the expected trajectory from the initial state to the endpoint state. This article takes the PUMA560 robot as the object, uses an improved D-H parameter method to establish a coordinate system and design parameters, solves the forward and inverse kinematics of the robot. This article uses the fifth degree polynomial interpolation method to obtain the curves of robot joint angle, angular velocity, and angular acceleration over time, and uses Matlab's robot toolbox for trajectory planning simulation to verify the good motion performance of robot joints and the rationality of parameter design.