Jixie chuandong (Jan 2018)
Kinematics and Trajectory Planning Analysis of 5-DOF Manipulator
Abstract
Aiming at the designed 5-DOF manipulator,the forward kinematics model is established by using D-H method,and the closed expression of inverse kinematics is obtained by using the inverse transformation method and geometry method. By solving the inverse solution of the path points on the target trajectory,the inverse kinematics simulation is carried out by MATLAB. The two groups of the inverse solution are planed trajectory respectively,and the same trajectory is obtained,the relationship and its correctness between the kinematics equation of the joint angle is verified. On this basis,the polynomial fitting of a set of inverse solutions satisfying the joint angle range is carried out,and adopted sectional fitting method to reduce the degree of polynomial and the error,the analytical expression of the joint variable about the time t is obtained,the fitting result is accurate,achieves real-time control of the input gear easily. The method in a mechanism simulation is verified by Solid Works,the correctness of the analytical expression is proved.
