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ÖÐͼ·ÖÀàºÅ£ºTP242 ÎÄÏ×±êÖ¾Â룺A doi£º10.3969/j.issn.1006-0316.2023.01.012

ÎÄÕ±àºÅ£º1006-0316 (2023) 01-0074-07

Trajectory Planning and Simulation of Six-Axis Manipulator Handling Process

LUO Enze

( School of Mechanical Engineering, Southwest Jiaotong University, Chengdu 610031, China )

Abstract£ºAiming at the simulation requirements of six-axis manipulator in the process of handling, the analytical method and the end positioning scheme based on the attitude of manipulator are proposed, and a set of trajectory generation scheme is proposed based on the inverse kinematics analysis. Firstly, the D-H method is used to analyze the structural parameters of the manipulator to determine the coordinate relationship between the axes, and the kinematics model is established. The forward and inverse kinematics relationship of the end position and the manipulator pose was determined by the analytical method, and the feasible domain of the end and the determination scheme of multiple solutions are obtained. On the basis of the inverse kinematics analysis, the quintic polynomial interpolation is used to avoid impact. According to the starting and ending points of the end of the manipulator, the smooth end trajectory and the time parameter equation of the pose are generated. A path planning scheme based on the principle of the shortest handling time is proposed. The result of the MATLAB simulation shows that the trajectory of the design scheme is continuously smooth and the joint motion meets the constraints of velocity and acceleration without jump and impact, which shows the rationality of the scheme. The scheme provides reference for the motion planning scheme of manipulators.

Key words£ºtandem robot£»inverse kinematics£»MATLAB simulation£»quintic spline interpolation

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