Six-degree-of-freedom Robot Trajectory Planning Based on MATLAB

Abstract

With the development of science and technology in various countries, industrial robots have become a key research object in various countries. The study of trajectory and dynamics of industrial robots can help to improve robot efficiency. In this paper, the structure and DH parameters of KUKA six-degree-of-freedom industrial robot arm are analyzed, five spatial trajectory points are planned, and the corresponding joint angles are solved by using inverse kinematic numerical solution method. The trajectory planning of the industrial robot joint space is carried out by using the fifth polynomial interpolation method to the kinematic analysis and the inverse kinetic analysis are completed by using the Newton Euler method. This study provides a basis for the trajectory planning and dynamics Analysis of such robots.