The Research Of 6-DOF Manipulator's Trajectory Planning

Robot's path planning plays an important role in controlling the robot. According the requirements and constraints of the working environment 6-DOF manipulator works in, several polynomial interpolation using the trajectory planning and analysis methods are chosen. After analyze and compare between these methods, the most appropriate method is found. In this paper, the plan is in the joint space. According to requirements of the manipulator's collision and moving restraint, the path is planned. The paper presented the common rules in robot path planning, by the concrete analysis of the path planning, simulation of the kinematic model and study of the path planning in joint space. The method of the path planning can make sure the manipulator working steadily in the course of its work, and solve the problem of the accuracy and the real-time characteristic.Based on the kinematic model of the manipulator path planning, through the joint space planning, time variable is applied, which can make seek nodes simple. In the path simulation algorithm based on the kinematic model, calculation by Matlab and simulation by the drawing function of the Matlab is applied to achieve the requirements of the simulation. And the conclusion is made by the results of the simulation...