Research on Trajectory Planning of a 6R Robotic Manipulator based on Jacobian Iteration

Xiao Liu; Aiwen Yuan; Shiyu Chao; Chaoming Huang; Hangze Yan

doi:10.6919/ICJE.202602_12(2).0005

Authors

Xiao Liu
Aiwen Yuan
Shiyu Chao
Chaoming Huang
Hangze Yan

DOI:

https://doi.org/10.6919/ICJE.202602_12(2).0005

Keywords:

Jacobian Iteration; Trajectory Planning; Laser Positioning; Kinematics.

Abstract

To meet the requirements of end-effector positioning accuracy and trajectory smoothness for laser positioning tasks of a 6R robotic manipulator, this paper investigates trajectory planning for a 6R robot based on a Jacobian iterative inverse kinematics method. First, a complete kinematic model of the 6R manipulator is established, and the mapping relationship between the end-effector pose and the joint variables is derived. On this basis, to address the limited applicability of analytical methods for manipulators with complex configurations, a Jacobian matrix–based iterative approach is introduced to solve the inverse kinematics problem, and an error-feedback mechanism is employed to achieve the gradual convergence of the end-effector pose to the desired target. Furthermore, considering the application scenario of laser positioning, straight-line trajectory planning of the end effector is performed in Cartesian space. Continuous linear motion trajectories are generated through linear interpolation between trajectory points. Simulation and experimental results demonstrate that the proposed Jacobian iterative method ensures convergence while effectively reducing the pose error between the robot end effector and the laser spot. The method also exhibits good stability and positioning accuracy within a certain range of motion.

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