## 多自由度机械臂运动轨迹规划与Matlab仿真

Title Motion trajectory planning and Simulationof multi degree of freedom manipulator
Abstract Industrial 4.0 manufacturing is the trend of industry development. The intelligentmechanical arm is an important part of the intelligent robot and the developmentof key industries. The multi degree of freedom mechanical's motion trajectoryplanning and control is the core content and the key technology of intelligentrobot research. In this paper, we study the trajectory planning and the shortestpath planning problem of a mechanical arm which has a certain type of three jointsand six degrees of freedom. The manipulator kinematics model is established byusing the D-H coordinate method. The kinematics and inverse kinematics of themanipulator are analyzed to verify the correctness of the model. We use cubic splineinterpolation method to solve the problem of mechanical arm's motion trajectoriesand analysis the joint angle, angular velocity and angular acceleration curve ofmechanical arm. At last, we calculate the joint space motion of manipulators andthe shortest time path. Through the Matlab drawings, we found that the joint anglecurve and others are in accordance with the requirements of the mechanical arm.The shortest path is also within the scope of change. The research shows that thethree spline interpolation method is a feasible path planning method which canobtain the mechanical arm motion state continuously and smoothly and can meet therequirements of the mechanical arm. Three spline interpolation can be used inindustrial production of drilling/welding and other multi-point manufacturingproblems. For real production which has high requirement of the interpolationsmoothness of functions like aircraft wing shape, engine intake,air outlet andso on, use three spline interpolation method can not only have good smoothness,but also avoid "Runge phenomenon". 源\$自,六.维/论[文;网'www.lwfree.cn
Keywords Manipulator arm D-H coordinates Three spline interpolationTrajectory planning

1绪论.1
1.1课题研究背景.1
1.2机械臂轨迹规划简介2
1.3工业机械臂发展趋势3
1.4本文主要研究内容4
2机械臂运动学分析5
2.1机械臂位姿描述5
2.2机械臂正运动学分析7
2.3机械臂正运动学分析验证11
2.4机械臂逆运动学分析11
2.5机械臂逆运动学分析验证13
3机械臂的轨迹规划15
3.1轨迹规划.15
3.2关节空间轨迹规划15
3.3关节空间最小时间轨迹规划.23

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