Kinematic Analysis and Trajectory Planning of Industrial Robots

Abstract

As industrial automation progresses, industrial robots find extensive application across diverse sectors. However, due to the diversification of task requirements, higher and higher demands are put forward for the operating efficiency, impact resistance, and adaptability of industrial robots. Pertaining to this matter, the study focuses on the M - 710iC/50 multi-functional robot and develops its joint motion path using a 3 - 5 - 3 polynomial. The main research contents are as follows: Initially, the conventional D - H technique is employed to set up the robot's link coordinate system, followed by deriving the robot's forward kinematics equation based on the uniform transformation interplay among these coordinate systems. Analytical techniques are employed to compute the inverse kinematics, determining the angles at each robot joint, while the Robotics Toolbox confirms both the forward and reverse kinematics. Next, an examination is conducted on the industrial robot's algorithm for planning trajectories. An in-depth analysis of the polynomial interpolation algorithm is conducted to plan paths in combined space. Considering the shortcomings of cubic and quintic polynomial interpolation techniques, combined trajectory fitting utilizes the 3-5-3 polynomial interpolation method. Finally, the above two types of trajectory planning algorithms are implemented using MATLAB, and a comparative analysis is carried out according to the robot motion curves.