Trajectory Planning for Seven-DOF Robotic Arm Based on Seventh Degree Polynomial

摘要

Trajectory planning can ensure the robot arm move smoothly and quickly to the target position. The difficulty is to use inverse kinematics to convert the path point into the joint angle and fit a smooth function to each joint. The paper deals with research on trajectory planning for seven-DOF robotic arm. In the joint space, based on the kinematics analysis, the joint space trajectory planning is realized by the cubic polynomial and the seventh degree polynomial, and the simulation is realized on the MATLAB platform. The simulation results show that the robot link parameters are designed reasonably, the kinematics model is correctly established and the seventh degree polynomial interpolation method effectively solves the problem of acceleration discontinuity, and obtains a continuous smooth trajectory curve of each joint, which visually verifies the effect of trajectory planning and provides an efficient and feasible trajectory planning method.