Searching for just a few words should be enough to get started. If you need to make more complex queries, use the tips below to guide you.
Article type: Research Article
Authors: Hu, Yihuaa | Zhang, Shulinb | Chen, Yanhuic; *
Affiliations: [a] Engineering Training Centre, Guangxi University of Science and Technology, Liuzhou, Guangxi, China | [b] Department of Mechanical Engineering, Liuzhou Institute of Technology, Liuzhou, Guangxi, China | [c] School of Mechanical and Transportation Engineering, Guangxi University of Science and Technology, Liuzhou, Guangxi, China
Correspondence: [*] Corresponding author: Yanhui Chen, School of Mechanical and Transportation Engineering, Guangxi University of Science and Technology, Liuzhou, Guangxi 545006, China. E-mail: [email protected].
Abstract: Robots are widely used in all walks of life, and their excellent work efficiency has been paid attention to. As the key component of robot, manipulator plays an important role in the running performance of robot. In order to effectively improve the trajectory accuracy and efficiency of the manipulator, a six degree of freedom (6-DOF) modular manipulator trajectory planning method based on polynomial interpolation is proposed, and its feasibility and effectiveness are verified by experiments. At the same time, the performance of the method is compared with two other methods of the same type. The experimental results show that the six degree of freedom modular trajectory planning method has a shorter running time, and the shortest running time is 1.62 s. Compared with the directions in previous studies, the planning trajectory of the proposed method is more practical and its accuracy is higher. In the iterative process, the running time of the proposed method is also the shortest. In addition, the minimum error of the three methods is about 1%, which is lower than the other two methods. It is concluded that the six degree of freedom modular trajectory planning method has high feasibility and performance, which is of great significance to improve the operating efficiency and stability of the robot.
Keywords: Polynomial interpolation, six degrees of freedom, manipulator, trajectory planning
DOI: 10.3233/JCM-226672
Journal: Journal of Computational Methods in Sciences and Engineering, vol. 23, no. 3, pp. 1589-1600, 2023
IOS Press, Inc.
6751 Tepper Drive
Clifton, VA 20124
USA
Tel: +1 703 830 6300
Fax: +1 703 830 2300
[email protected]
For editorial issues, like the status of your submitted paper or proposals, write to [email protected]
IOS Press
Nieuwe Hemweg 6B
1013 BG Amsterdam
The Netherlands
Tel: +31 20 688 3355
Fax: +31 20 687 0091
[email protected]
For editorial issues, permissions, book requests, submissions and proceedings, contact the Amsterdam office [email protected]
Inspirees International (China Office)
Ciyunsi Beili 207(CapitaLand), Bld 1, 7-901
100025, Beijing
China
Free service line: 400 661 8717
Fax: +86 10 8446 7947
[email protected]
For editorial issues, like the status of your submitted paper or proposals, write to [email protected]
如果您在出版方面需要帮助或有任何建, 件至: [email protected]