Open AccessStudy on trajectory optimization algorithm of industrial robot in joint space
Author(s) -
Shen Luyang,
Yichao Peng
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1676/1/012206
Subject(s) - inverse kinematics , industrial robot , trajectory , robot , kinematics , polynomial interpolation , interpolation (computer graphics) , polynomial , computer science , robot kinematics , spline interpolation , forward kinematics , robotic arm , mathematics , matlab , artificial intelligence , algorithm , control theory (sociology) , computer vision , motion (physics) , mobile robot , bilinear interpolation , mathematical analysis , physics , control (management) , classical mechanics , astronomy , operating system
Aiming at the problem that the trajectory deviation of six-degree-of-freedom industrial robot is large, a robot model is established by Denavit-Hartenberg parameter method, and forward kinematics and inverse kinematics are analysed. Simulation is conducted on the Robotics Toolbox industrial robot model in MATLAB, and cubic polynomial interpolation and cubic polynomial interpolation are used to plan the terminal motion trajectory of the industrial robot in joint space. The results show that the error of the terminal motion trajectory is smaller in the fifth order polynomial interpolation.