Simulation and Analysis of Three-Dimensional Space Path Prediction for Six-Degree-of-Freedom (SDOF) Manipulator

Abstract

Traditional methods are ineffective in predicting the three-dimensional path of a six-degree-of-freedom (SDOF) manipulator. In view of the above situation, this paper proposes a three-dimensional space path prediction simulation method for a SDOF manipulator. The structure of the SDOF manipulator is analyzed, and the kinematics model of the manipulator is constructed. The kinematics model of the manipulator is solved by the forward and reverse kinematics solutions. According to the inverse kinematics solutions, the method of automatic optimization of multiple solutions is obtained, which can effectively improve the performance of the manipulator. The collision is avoided in the three-dimensional motion of a SDOF manipulator. On the basis of the kinematics of the manipulator, the Cartesian space is used to predict the path trajectory. The average operation time of the path planning cycle and the deviation of the relative smooth trajectory are compared through the three-dimensional path prediction distance and the straight line distance of the SDOF manipulator. The experimental results show that the average operation time of the period of the path prediction between the two is close, and the deviation of the three-dimensional space path prediction distance of the SDOF manipulator is better than that of the straight line distance. It has certain application performance.