Simulation on Trajectory Planning of 6R Manipulator Based on the Shortest Distance Criterion

Qing Qing Huang; Guang Feng Chen; Jiang Hua Li; Xin Wei

doi:10.4028/www.scientific.net/AMM.602-605.942

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 602-605Simulation on Trajectory Planning of 6R...

Simulation on Trajectory Planning of 6R Manipulator Based on the Shortest Distance Criterion

Abstract:

This paper concerns the trajectory planning and simulation for 6R Manipulator. First, algebraic method was used to deduce the forward and inverse kinematics of 6R manipulator. All inverse solutions were expressed in atan2 to eliminate redundant roots to get the corresponding inverse formula. For the trajectory planning of manipulator in Cartesian space, using the cubic spline interpolation to get the drive function of joint, getting a unique solution from eight group inverses by the shortest distance criterion, and then obtained the actual end-effector trajectory. Using Matlab to verify the proposed trajectory planning method, validated results show that the proposed algorithm is feasible and effective.

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Periodical:

Applied Mechanics and Materials (Volumes 602-605)

Pages:

942-945

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.602-605.942

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Online since:

August 2014

Authors:

Qing Qing Huang*, Guang Feng Chen, Jiang Hua Li, Xin Wei

Keywords:

Cartesian, Manipulator, Shortest Distance Criterion, Trajectory Planning

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* - Corresponding Author

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