Trajectory Planning and Motion Characterization of a Six-Degree-of-Freedom Robot Based on Matlab

摘要

The Kawasaki RS010N robot was studied and analyzed by using the theory of chi-square coordinate transformation, the coordinate system was established by using the DH parameter method and the values of each parameter were determined, and the simulation of the robot modelling was completed by using the Matlab Robotics Toolbox. The spatial trajectories of the joints are planned by the fifth degree polynomial interpolation algorithm. Given the initial and termination postures of the robot, the end trajectories were analyzed, and the motion curves, angular velocity curves and angular acceleration curves of each joint were obtained, which verified the reasonableness of the design of the robot structure.