A Method of Manipulator Trajectory Control Based on Coordinate System

This paper will take the six degrees of freedom robot as the research object, and realize the three-dimensional motion simulation of the six degrees of freedom robot based on software. Basic analysis and modeling of kinematics of six degrees of freedom robot. The first is to analyze the basis of kinematics of the robot, determine the D-H parameters of the six degrees of freedom robot, and establish the six degrees of freedom robot model with the ‘modified’ D-H method. According to the size parameters of the six degrees of freedom robot, the forward and inverse kinematics formulas are derived, and a closed solution method of inverse kinematics with less computational complexity is obtained. Call the robot toolbox in MATLAB to simulate and verify the six degrees of freedom robot, and adjust the position of each joint of the robot to prove the correctness of robot kinematics derivation. This paper mainly adopts Cartesian space trajectory planning. Linear interpolation or circular interpolation is used to determine the starting point and ending point trajectories of the end effector of a six degrees of freedom robot, and then several points are interpolated on the trajectory to determine the coordinates of different intermediate points on the path. Finally, the coordinates of the robot’s intermediate point are calculated in inverse kinematics, and the variables of six joint angles are calculated. Finally, the feasibility of Cartesian space trajectory planning is verified by simulation demonstration in MATLAB.