Trajectory planning of multi-degree-of-freedom robot with coupling effect

Abstract

For a multi-degree-of-freedom (MDOF) robot with flexible components, vibration errors can easily occur during operation. Thus, the position of the end effector inevitably deviates from its desired value and causes failure of the precise trajectory tracking task. To solve this problem, an MDOF KUKA robot is introduced in the present study. We propose a new methodology to investigate the dynamic coupling effect and trajectory planning for the robot. The dynamic coupling effect index is defined for the first time, thereby providing a theoretical basis for the trajectory planning. Moreover, a new trajectory plan is adopted to reduce the vibration errors caused by the coupling effect in the Cartesian coordinate and joint coordinate systems. The advantages of the proposed methodology in improving accuracy and stability are validated by experiments. In addition, the chaos phenomenon is observed, which is the focus of our future study.