Four DOF robot arm trajectory planning

Haozhen Lin

doi:10.1117/12.2659283

23 November 2022 Four DOF robot arm trajectory planning

Haozhen Lin

Proceedings Volume 12454, International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022); 124541A (2022) https://doi.org/10.1117/12.2659283
Event: International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022), 2022, Hohhot, China

Abstract

The four-degree-of-freedom robotic arm is designed and its trajectory is planned in this paper to meet the higher requirements for arbitrariness, repeatability, and stability of the robotic arm in space position in the application of the robotic arm. A comparison of the joint angle trajectory planning effect was carried out using the linear interpolation method and the quintuple polynomial interpolation method, and the motion trajectory of the robot arm was obtained. The results show that the trajectory planning by the fifth polynomial interpolation method results in smooth motion and low vibration of the arm, and the mechanical structure of the arm is reasonably designed with correct geometric parameters, which is of high application value.

Citation Download Citation

Haozhen Lin "Four DOF robot arm trajectory planning", Proc. SPIE 12454, International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022), 124541A (23 November 2022); https://doi.org/10.1117/12.2659283

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