| In today’s rapid development of industrialization,the application of robotic arms is becoming more and more extensive.With the development of mechatronics technology,the lightweight collaborative robotic arm is more convenient,fast and efficient than the manual works.In this paper,in order to prevent the occurrence of undesirable phenomena,in the operation of the extract IIMT-CR-10 SIX-DOF robotic arm,which applied in the self-researched UAV nest system.Trajectory planning and a series of experimental studies were carried out.The main research contents of the thesis are as follows:(1)According to the parameters of each joint mechanism of the IIMT-CR-10 robot,a mathematical model is established by the D-H parameter method,the positive and inverse motions of the robot are solved,and the simulation is verified in MATLAB software,and the results are compared to verify the correctness of the robot positive and negative kinematics solution algorithm.(2)The established robot models were analyzed in Cartesian space and joint space respectively,and the simulation results of the trajectory planning of the robot were analyzed three times,five times and "3-5-3" mixed polynomials in the joint space,and finally the "3-5-3" hybrid polynomial interpolation method was used in the joint space to avoid the occurrence of undesirable phenomena in the operation process of the robot arm,so that the operation of the robot arm was smooth and stable.(3)In order to improve the work efficiency of the robot arm,the trajectory planning of the robot arm is optimized by particle swarm algorithm,and the constraints of the speed and acceleration of the robot arm are added,which shortens the running time of the robot from the initial point to the target point.The algorithm simulates the six joints of the studied robotic arm and finally achieves the expected goal of time optimization.Finally,through experimental research,the application value of the method is proved. |
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