Kinematics Analysis and Trajectory Planning of SCARA Robot Based on Matlab

Abstract

In order to reduce the maximum acceleration of SCARA robot joints, reduce impact and improve motion stability, this paper studies the robot’s kinematic modeling and trajectory planning. First, according to the standard D-H parameters of Epson LS6 SCARA robot, a robot simulation model is established in Matlab. Then, the third-order polynomial interpolation algorithm and the fifth-order polynomial interpolation algorithm are used to interpolate the motion, and the characteristics of these two methods are analyzed. Finally, a three-stage piecewise polynomial interpolation algorithm is used for trajectory planning. According to the principle of continuous and minimum acceleration in the movement process, this paper uses particle swarm algorithm to calculate the optimal two time nodes to ensure the trajectory quality. Through MATLAB simulation experiments, it is proved that the polynomial interpolation method can make the joint acceleration change more stable, solve the problem that the cubic polynomial interpolation algorithm can not suppress the acceleration, and the fifth degree polynomial interpolation algorithm has the problem of excessive acceleration.