Research on trajectory planning method of the collaborative manipulator

Abstract

To make the operation trajectory of the collaborative manipulator smoother and solve the problems of turning point displacement and velocity abrupt change, the 5-3-5 joint interpolation method is used to transition the operation trajectory. First, establishing a robotic arm simulation model used an improved D-H parameter method in the MATLAB Robotics toolbox. Then, to verify the rationality of the model structure of the robotic arm, the forward and reverse kinematics analysis is carried out, and the reachable space is analyzed by the Monte Carlo method. Finally, the gripping trajectory simulation of the collaborative robotic arm is carried out. The simulation results show that the operation trajectory after the transition processing of the 5-3-5 joint interpolation method can make the operation of the collaborative manipulator more stable.