Author(s)

Liao Shengxi ^1,2

Affiliation(s)

¹ School of Mechanical Engineering, Anhui University of Technology, Ma'anshan, China
² Agricultural Machinery Management Service Center in Wanzhi District, Wuhu City, China

Corresponding Author

Liao Shengxi

ABSTRACT

The trajectory planning of robots refers to the motion design of the pose, velocity, and acceleration of the end effector (robot operating arm) in spatial motion. According to the requirements of the robot's task, the end effector moves along the expected trajectory from the initial state to the endpoint state. This article takes the PUMA560 robot as the object, uses an improved D-H parameter method to establish a coordinate system and design parameters, solves the forward and inverse kinematics of the robot. This article uses the fifth degree polynomial interpolation method to obtain the curves of robot joint angle, angular velocity, and angular acceleration over time, and uses Matlab's robot toolbox for trajectory planning simulation to verify the good motion performance of robot joints and the rationality of parameter design.

KEYWORDS

PUMA560 robot; Kinematic simulation; Trajectory planning

CITE THIS PAPER

Liao Shengxi, Robot Trajectory Planning and Simulation Based on Matlab Robotics Toolbox. Journal of Artificial Intelligence Practice (2024) Vol. 7: 90-100. DOI: http://dx.doi.org/10.23977/jaip.2024.070115.

REFERENCES

[1] Peter Corke. Robotics, Vision and Control: Fundamental Algorithms in MATLAB [M]. BeiJing Publishing House of Electronics Industry. 2016.5.
[2] Cai Zixing. Fundamentals of Robotics [M]. Beijing: Mechanical Industry Press, 2015.3.
[3] Liu Chang, Li Haihong. Course Design Tutorial for Industrial Robotics [M]. Beijing: Mechanical Industry Press, 2022.1.
[4] Wang Na. Simulation study of PUMA560 robotic arm based on MATLAB/Robotics Toolbox [J]. Science and Technology Vision. 2017. 04. 004.
[5] Li Hui. Robot trajectory optimization and simulation based on MATLAB [M]. Beijing: Beijing University of Posts and Telecommunications Press, 2019.10.
[6] Ren Jun, Wu Zhenghu, Cao Qiuyu. ER50 robot trajectory planning and simulation based on MATLAB Robotics toolbox [J]. Mechanical Design and Manufacturing. 2022.08.033

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