Trajectory Planning for 6-DOF Robotic Arm Based on Quintic Polynormial
Authors
Xiaojie Zhao, Maoli Wang, Ning Liu, Yongwei Tang
Corresponding Author
Xiaojie Zhao
Available Online June 2017.
- DOI
- 10.2991/caai-17.2017.23How to use a DOI?
- Keywords
- robotic arm; trajectory planning; 6-DOF; polynomial
- Abstract
The paper deals with research on polynomial trajectory planning for 6-DOF robotic arm. On the basis of kinematics analysis, we carried out trajectory planning and simulation of joint space. Through the trajectory planning diagrams of MATLAB simulation on the two methods, the results showed that quintic polynomial is better than cubic polynomial in the effect of planning. As a result, this method used in six degrees of freedom industrial robot trajectory planning is feasible.
- Copyright
- © 2017, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Xiaojie Zhao AU - Maoli Wang AU - Ning Liu AU - Yongwei Tang PY - 2017/06 DA - 2017/06 TI - Trajectory Planning for 6-DOF Robotic Arm Based on Quintic Polynormial BT - Proceedings of the 2017 2nd International Conference on Control, Automation and Artificial Intelligence (CAAI 2017) PB - Atlantis Press SP - 115 EP - 118 SN - 1951-6851 UR - https://doi.org/10.2991/caai-17.2017.23 DO - 10.2991/caai-17.2017.23 ID - Zhao2017/06 ER -