Trajectory Planning and Attitude Control of Manipulator

In this paper, the stability and smoothness of trajectory planning and attitude control of the manipulator are studied. The DH motion model of Kinova Jaco Gen-2 manipulator was established to solve the forward and inverse kinematics equations. Firstly, the third-order Bezier curve is designed to plan the trajectory of manipulator, which has good continuity and smoothness, and can control the workspace. Secondly, an attitude interpolation method based on quaternion is proposed. And different attitude interpolation methods are compared and analyzed, and spherical linear interpolation method is used to solve the problem of uneven velocity of the linear interpolation method. Finally, MATLAB robot toolbox is used to simulate and verify that the angle of each joint changes smoothly, and the trajectory of manipulator has good smoothness and stability based on Bezier curve and quaternion interpolation. According to the experimental results, the path planning based on the third order Bezier curve and spherical linear interpolation has a continuous smooth joint trajectory curve and a continuous joint angular velocity curve. The manipulator can move smoothly to the target point under the constraint of the end posture. Therefore, the trajectory planning method can be used as an ideal planning method for manipulator.