Trajectory planning algorithm of manipulator based on NURBS

Abstract

This paper uses the 5Dof manipulator on the YouBot developed by KUKA as a model. Combining quintic polynomial interpolation with quintic non-uniform rational B splines, a novel segmented polynomial interpolation planning technique 5-B-5 is proposed in this study. CoppeliaSim constructs the model, and MATLAB controls the model to acquire the angular displacement, angular velocity, angular acceleration, final trajectory, and joint force for every joint angle. The new optimization algorithm presented in this work is utilized to optimize the manipulator's motion trajectory. Comparing it to the classic 3-5-3 algorithm and the B spline algorithm offers advantages over the higher-order B spline interpolation without increasing the manipulator control system's operational overhead. The experiments prove that the motion trajectory inaccuracy of the manipulator is minimized, the curve is continuous and smooth, and the smoothness is improved, thereby eliminating mechanical shock and other issues.