Research on 3-DOF Manipulator Based on Motion Analysis and Trajectory Algorithm

Abstract

Aiming at the precise control of three-degree-of-freedom manipulator under complex operation, the kinematics model of manipulator and its joints is established by D-H parameter method. Through the analysis of forward kinematics and inverse kinematics of the manipulator, quintic polynomial interpolation algorithm is selected to study the trajectory planning of the manipulator in Cartesian space coordinate system. Through Matlab Robotic Tool and adams simulation analysis, the displacement, velocity and acceleration curves of each joint with time are obtained, and then the accuracy of the algorithm is verified. This method can provide theoretical analysis and basis for other research on kinematics and trajectory planning of multi-joint robots. This study establishes an accurate kinematic model of the 3-degree-of-freedom manipulator and optimizes the trajectory planning algorithm, providing a theoretical and simulation basis for improving its control precision in complex operations. It not only helps solve practical issues such as balancing model accuracy and real-time performance for low-degree-of-freedom manipulators but also provides a reference for research on kinematics and trajectory planning of multi-joint robots, which has positive significance for promoting the engineering application of manipulator automation technology.