Abstract
In order to improve the teaching efficiency of the manipulator, a trajectory planning and control method based on inertial measurement unit (IMU) is proposed. Firstly, the data concluding angular velocities, accelerations and magnetic fields are collected based on IMU. Secondly, the posture of the mobile carrier is calculated by synthesizing the information of the 9-axis sensors. Finally, the direction control vector is constructed to realize the end point trajectory control of the manipulator. To verify the effectiveness of this method, a space arc trajectory planning and control simulation for PUMA560 is completed based on Android system and MATLAB Robot Toolbox. The experimental results show that the operator's intention can be accurately converted into a manipulator motion command, and the trajectory control efficiency and accuracy meet the teaching requirements.
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