Kinematic analysis and motion planning simulation of cooperative robot

Abstract

Background: With the wide use of robots in electric welding and mechanical manufacturing, we need to reflect their trajectory at work, verify the effectiveness of robotic working principles and prevent unnecessary problems through simulation experiments. In order to meet the requirements of precision and controllable trajectory of robots in the assembly process, we need to model the kinematics of robots, and adopt an interpolation method to improve the kinematic accuracy of robots. Methods: To solve the problems of low accuracy and poor stability of robots in assembly trajectory, a method which combines an optimized Denavit and Hartenberg (D-H) parameter modeling method and interpolation method is presented for the first time in this paper. For this purpose, the configuration and startup files required for robot motion planning are created to configure the corresponding simulation platform of an AUBO-i5 collaborative robot. In order to study the reliability of the proposed method, a three-dimensional environment model of the manipulator is established. Then, the robot’s linear trajectory planning is realized, and thus the position changes of each joint are analyzed. Results: The simulation results show that the improved D-H method effectively improves the stability and accuracy of the motion trajectory of each joint and provides a basis for the robot to realize more flexible motion planning. Conclusions: In the assembly process, we can use the simulation platform for simulation experiments to avoid unnecessary problems. In addition, we can use the improved D-H method and interpolation method to improve the trajectory accuracy of robots. The method presented in the paper can effectively reduce the damage of the robot in the process of use and improve the assembly efficiency of robots.