Abstract
In order to solve the problems in the practical application of the UR5 robot, improve the work efficiency and ensure the stability of the movement, the related kinematics analysis and trajectory planning of the UR5 robot is carried out, and the D-H parameter kinematics model is established to carry out forward and reverse motion. The transformation relationship of each link coordinate system in the forward kinematics and the rotation angle of each joint in the inverse kinematics are solved, and then MATLAB is used to perform related calculations to verify the feasibility of the algorithm. The robot arm performs interpolation to complete the trajectory planning between the beginning and end points passing through multiple intermediate nodes.
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