Kinematics Analysis and Trajectory Planning of a Seven-Axis Robotic Arm on the Basis of Non-Pieper Criteria

This paper delves into the kinematics and trajectory planning of a seven-axis redundant robotic arm on the basis of the non-Pieper criterion. Initially, the basic configuration and D-H parameter model of the seven-axis redundant robotic arm are analyzed, laying the foundation for subsequent kinematic analysis. In terms of forward kinematics, the general expression for the endeffector’s pose is derived through the linkage coordinate system and transformation matrices and is verified via the Robotics Toolbox. For inverse kinematics, owing to the absence of an analytical solution for this robotic arm, a damped least squares method is employed for the numerical solution, significantly enhancing the stability and accuracy of the solution. Subsequently, the smooth trajectory of each joint of the robot arm was generated using polynomial time programming method, and the smoothness and continuity of the trajectory were verified through visual analysis. The research results indicate that the seven-axis redundant robotic arm on the basis of the non-Pieper criterion has remarkable advantages in kinematics and trajectory planning and is capable of meeting the demands of complex and varied tasks. This study provides valuable reference and insight for researchers and engineers in related fields, contributing to the advancement and application of seven-axis redundant robotic arm technology.