Analysis of Polynomial Interpolation Characteristics Based on 6DOF Manipulator Trajectory Planning
DOI:
https://doi.org/10.54097/Keywords:
Mechanical arm, MATLAB, Polynomial interpolation, Track planning, Hybrid interpolationAbstract
Aiming at the problems of choosing and using polynomials of different times and mixed polynomials in the process of manipulator trajectory planning, such as difficulty, wide range of light and low accuracy, in this paper, the application of different polynomials in manipulator trajectory planning is systematically analyzed by using MATLAB Robot Toolbox simulation platform and Polynomial interpolation algorithm. Using a 6-dof robotic arm Puma560 as a simulation object, the effects of three-, five-, and seven-Polynomial interpolation on joint position and pose in joint space trajectory planning were analyzed, a preliminary understanding of the application of different polynomials, and secondly, the more complex application of the fifth and seventh degree polynomials in Descartes space for the trajectory planning of the manipulator, the influence of trajectory planning with different degree polynomials on the position and pose of manipulator joint is clarified. The results show that the higher the number of polynomials, the smoother the transition of the joint at the critical path points, but the greater the maximum angular velocity and angular acceleration of the joint, the Polynomial interpolation of joint space and Descartes space trajectory planning are 14% and 23% lower than the average of absolute maximum angular velocity and absolute maximum angular acceleration of the Polynomial interpolation, respectively. Based on the analysis of the research results, this paper presents the applicable conditions and applications of Polynomial interpolation method in trajectory planning, and further summarizes the application conditions and methods of mixed polynomials.
References
[1] HU Y, WANG L, LI Y H,.et al. Effect of Directional Lorentz Force on Molten Pool Exhaust in Laser Cladding[J].Chinese Journal of Lasers, 2018,45(8):62-71.
[2] WANG N. Research on Visual Recognition and Trajectory Planning of Industrial Robot Cutting Path [D].Taiyuan:Norse Univesity of China, 2017.
[3] LI W, DENG Z H, GE J M, et al. Research progress of joint space trajectory planning for robots [J]. Machine Design and Manufacturing Engineering, 2022, 51(10):15-23.
[4] HUANG X, ZHANG W T, REN X J, et al. Research on Trajectory Planning of 6-Dof Manipulator Based on Virtual Prototype [J]. Internal combustion engines and accessories, 2023(03):40-42.
[5] DONG W, NI S D, ZHANG C. Welding Robot Descartes space trajectory planning research [J]. Mechanical manufacturing, 2019,57(04):20-23+26.
[6] CHENG W, QU F K, XIAO J. . Robot Modeling and Kinematics Analysis Based on Modified D-H Parameters [J]. Techniques of Automation & Applications, 2022,41(05):97-99+124.
[7] WANG N, ZHANG X M. Trajectory planning and simulation of six-DOF robot based on MATLAB [J]. Manufacturing automation, 2014,36(15):95-97.
[8] MA Y Y, ZENG T Y, JIANG H L. Kinematics Analysis and Trajectory Planning of Manipulator Based on MATLAB [J]. PACK AGING ENGINEERING, 2023,44(03):187-193.
[9] Parikh A P,Trivedi R,Dave J. Trajectory Planning for the Five Degree of Freedom Feeding Robot Using Septic and Nonic Functions[J]. IJMERR,2020,9(7).
[10] E A G. Trajectory planning for mechanical systems in the presence of dynamic obstacles[J]. Journal of Physics: Conference Series,2023,2514(1).
[11] Yibo L,Fan X,Xiliang T, et al. Manipulator trajectory planning bas-ed on work subspace division[J]. Concurrency and Computation: Practice and Experience,2021,34(5).
[12] ZHANG L, YANG D S, WANG Y S, et al. . Look- ahead Interpolation A lgorithm for NURBS Curve Based on the Cubic Polynomial Model [J]. Combined Machine Tool and automatic machining technology, 2014(3):1-4,8.
[13] SHEN Luyang, PENG Yichao. Study on trajectory optimization algorithm of industrial robot in joint space[J]. Journal of Physics: Conference Series, 2020,1676(1): 012206.
[14] ZHANG J M, CHEN Y Q. Research on Robot Trajectory Interpolation Method Based on Genetic Algorithm [J]. Combined Machine Tool and automatic machining technology, 2020(5):48-51.
[15] YANG J, WANG Q Y, LIU E W, et al. Trajectory Planning and Simulation Analysis of Secondary Lining Cutting Robot Based on Matlab[J]. Forum of South China ,2020,51(23):17-22.
[16] WANG J, CHEN Z L, LI S T, et al. Combined Planning between W elding Parameters and Space Trajectory for Welding Robot [J]. Combined Machine Tool and automatic machining technology, 2018(8):14.
[17] PU Y S, SHI Y Y, LIN X J, et al. . Joint motion planning of industrial robot based on hybrid polynomial interpolation [J]. Journal of Northwestern Polytechnical University, 2022, 40(01):84-94.
[18] WEI F X, SUN M G, ZHOU H N. Kinematics Analysis and V erification of Six Axis Manipulator based on MATLAB [J]. JOURNAL OF JILIN INSTITUTE OF CHEMICAL TECHNOLOGY, 2021,38(11):59-62+79.
[19] CHEN H, LI S L. Research on forward inverse solution of PUMA560 robot based on MATLAB [J]. Manufacturing automation, 2018,40(12):34-36.
Downloads
Published
Issue
Section
License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.