Abstract
Trajectory planning can ensure the robot arm move smoothly and quickly to the target position. The difficulty is to use inverse kinematics to convert the path point into the joint angle and fit a smooth function to each joint. The paper deals with research on trajectory planning for seven-DOF robotic arm. In the joint space, based on the kinematics analysis, the joint space trajectory planning is realized by the cubic polynomial and the seventh degree polynomial, and the simulation is realized on the MATLAB platform. The simulation results show that the robot link parameters are designed reasonably, the kinematics model is correctly established and the seventh degree polynomial interpolation method effectively solves the problem of acceleration discontinuity, and obtains a continuous smooth trajectory curve of each joint, which visually verifies the effect of trajectory planning and provides an efficient and feasible trajectory planning method.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Lu JY, Xiong XS, Zhu D (2013) Five degrees of freedom picking manipulator joint space trajectory planning. Light Ind Mach 31:11–14
Ma SH, Yang L, Liu ZG, Wang JK (2014) Trajectory planning of 6-DOF manipulator based on combination function method. In: The 26th Chinese Control and Decision Conference (2014 CCDC)
Gasparetto A, Boscariol P, Lanzutti A, Vidoni R (2015) Path planning and trajectory planning algorithms: a general overview. Mech Mach Sci 29:3–27
Gasparetto A, Zanotto V (2007) A new method for smooth trajectory planning of robot manipulators. Mech Mach Theory 42(4):455–471
Agarwal V (2011) Trajectory planning of redundant manipulator using fuzzy clustering method. Int J Adv Manuf Technol 61:5–8
Wunderlich J, Boncelet C, Wunderlich J, Boncelet C (1996) Local optimization of redundant manipulator kinematics within constrained workspaces. In: Proceedings of the IEEE international conference on robotics and automation, Minneapolis, MN, vol 1, pp 127–132
Dubey R, Luh JYS (1988) Redundant robot control using task based performance measures. J Robot Syst 5(5):409–432
Ding H, Chan SP (1996) A real-time planning algorithm for obstacle avoidance of redundant robots. J Intell Robot Syst 16(3):229–243
Ho CY, Cook CC (1982) The application of spline functions to trajectory generation for computer-controlled manipulators. Digit Syst Ind Autom 1(4):325–333
Angeles J (2007) Fundamentals of robotic mechanical systems, 3rd edn. Springer, New York
Craig JJ (2005) Introduction to robotics: mechanics and control, 3rd edn. Pearson Prentice Hall, Upper Saddle River
Morales M, Tapia L, Pearce R, Rodriguez S, Amato NM (2005) A machine learning approach for feature-sensitive motion planning. In: Algorithmic foundations robotics VI, pp 361–376
Zhu HJ (2017) Motion trajectory planning and simulation of 6 DOF manipulator arm robot. Acad J Manuf Eng 15(3)
Jiang XS (1994) Introduction to robotics. Liaoning Science and Technology Press, Shenyang
Cai ZX (2000) The robotics. Tsinghua University Press, Beijing
Craig JJ (1986) Introduction to robotics: mechanics and control. Addison-Wesley Publishing Company, Boston
Aljawi AAN, Balamesh AS, Almatrafi TD, Akyurt M (2002) Symbolic modeling of robot manipulators. In: The 6th Saudi engineering conference, vol 4, pp 597–611
Zhang ZY, He DJ, Tang JL, Meng LS (2014) Picking robot arm trajectory planning method. Sensors Transducers 162(1):11–20
Yan XS, Wu QH, Liu HM (2012) An improved robot path planning algorithm based on genetic algorithm. Telkomnika 10(8):1948–1955
Acknowledgments
This work was supported by the affiliate program LM201768.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Fang, S., Ma, X., Qu, J., Zhang, S., Lu, N., Zhao, X. (2020). Trajectory Planning for Seven-DOF Robotic Arm Based on Seventh Degree Polynomial. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2019 Chinese Intelligent Systems Conference. CISC 2019. Lecture Notes in Electrical Engineering, vol 593. Springer, Singapore. https://doi.org/10.1007/978-981-32-9686-2_34
Download citation
DOI: https://doi.org/10.1007/978-981-32-9686-2_34
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-32-9685-5
Online ISBN: 978-981-32-9686-2
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)