Abstract
With the increase of the benefits of robots in industrial production, the researcher pays more and more attention to the problem of trajectory planning. Taking AUBO-I5 robot as an example, the reasonable trajectory planning of space motion is carried out, and the kinematics analysis simulation and trajectory planning are carried out, and the simulation data are tested in the real environment. The joint coordinate system was established on the structure diagram of the robot, and the kinematics equations were obtained by D-H parameter method. The forward and inverse kinematics were analyzed and verified by MATLAB simulation. Under the control of point position, the trajectories between two points are planned by using quintic polynomial interpolation method, and the motion curves of six joints are obtained. Finally, the simulation data are applied to the actual robot motion control, and the correctness and feasibility of the established kinematics equations are proved.
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