Kuka Youbot Arm Path Planning Based on Gravity
Boquan Zhang, Sheng Dong Gao · 2018
Aiming at the various algorithms in the mechanical arm trajectory planning, this paper proposes a trajectory planning algorithm based on an open source software platform (ROS) for the control System of the Robot arm.Mechanical arm on the platform, the gravitational potential energy as the optimization criterion, design a kind of optimization algorithm based on polynomial interpolation five times as a planning algorithm, and through the simulation results verify the effectiveness of the improved control algorithm can improve the performance of mechanical arm.This method is of universal guiding significance for the realization of trajectory planning of engineering mechanical arm.