Reverse-driving Trajectory Planning and Simulation of Joint Robot

摘要

Considering difficulty in traditional methods for solving inverse kinematics problems of joint robot, reverse-driving trajectory planning method based on ADAMS was put forward. Firstly, the mathematical model of joint robot was established using D-H matrix, and the spatial orientation and posture of manipulator was obtained. Furthermore, virtual prototype model of joint robot was set up with ADAMS software, and then manipulator was inversely driven to realize expected trajectory. Consequently, angular displacement driving function of each joint could be deduced quickly and applied to drive the joints. Finally, kinematics simulation and analysis were carried out. The research results show that angular displacement, angular velocity and angular acceleration of each joint are smooth and continuous. Displacement, velocity, acceleration curve of the manipulator are continuous and uninterrupted, and the displacement error of every direction is less than 1 mm. Reverse-driving trajectory planning method is feasible and effective for joint robot in trajectory planning.