Trajectory planning of 6-DOF manipulator based on combination function method

摘要

Trajectory planning can ensure the robot arm move smoothly and quickly to the target position and realize the humanoid robot hand grasping. In the paper, we proposed a trajectory planning of the H20 humanoid robot arm based on combination function method. It is composed of cycloid and cosine function with different frequency. The combination of cycloid function and cosine function adopted has solved the problem that angular velocity and angular acceleration are high in other methods. Thus, it reduces the vibration and makes the movement more stable. The manipulator kinematics is analyzed in a coordinate system established by Denavit-Hartenberg method. The trajectory planning process and the simulation results in the joint space is described. The simulation results show that the method has advantages of providing a smooth movement and reducing the peak values of angular velocity and angular acceleration. The time to complete a given operation is shorter, which improves the work efficiency of the robot.