Research on Path optimization Algorithm of the 6-DOF Manipulator

In order to ensure the continuous change of motor torque in the actual system of the 6-DOF manipulator and reduce the equipment life loss caused by the rigid impact at the joint of the manipulator, an improved trajectory planning method is proposed in this paper to improve the pulsation characteristics during the movement of the manipulator. The space-optimized 7-5-7 polynomial interpolation method is used in the joint space for trajectory planning, and the trajectory reprocessing is performed near the switching point. The simulation results show that the optimized motion path of the manipulator not only reduces the mutation of the angular position curve near the original switching point, but also optimizes the velocity, acceleration and pulsation characteristics.