Inverse kinematics analysis trajectory planning for a robot arm

摘要

This paper presents a 6-DOF robot arm system, proposed a strategy for solving the inverse kinematics equations, using the robot arm assembled by seven AI servos (RX-64), set up robot's coordinate system with the D-H notation method. The motion trajectory of a robot arm is calculated using the geometric analysis. It was considered as the length of robot arm and motion angle in the whole system. To adjust and drive the robot arm to the coordinates of folder and place between ones and the target object, make the angle of the shaft position can accurately locate the direction for all axes of the robot arm and obtain the optimal motion path. Finally, Matlab software was used to verify and compare the results of the inverse kinematics equations analysis with the experimental results. Under the experimental test, we position the object using the camera which was installed on robot arm, according to the attitude of the object, control the robot arm through the analysis result of inverse kinematics equation in order to make the robot arm achieve the action of exact grasping object. Finally, the robot arm system will be used on the meal service robot to serve for guests.