Kinematic Analysis and Trajectory Planning Based on a Six-Axis Robotic Arm

摘要

Kinematic analysis and time-optimal trajectory planning are applied to the robot in order to enhance its operational efficiency and preserve its continuous, smooth running trajectory. In this paper, the robot kinematics model is established based on the D-H parametric method with the Daqi Elfin series E05 six-axis robot as the research object. After that, forward and inverse kinematic analysis is carried out. And the segmented polynomial interpolation trajectory planning model of robotic arm is optimized in time based on the improved particle swarm algorithm. And MATLAB robot toolbox is used to build the robotic arm simulation model. From there, the trajectory planning simulation experiments are performed. As well as the experimental results show that the improved particle swarm algorithm effectively reduces the trajectory planning time. In the simulation experiment the time is reduced by 40.78% compared to the initial setting. The effectiveness of the robotic arm is greatly increased by this research.