Kinematic analysis and trajectory planning of serial robot / 医疗卫生装备

ABSTRACT

Objective To select a safe, flexible and lightweight manipulator and to execute its kinematic analysis and trajectory planning, so as to improve the application of serial robot in the treatment of hazardous biochemical products. Methods The kinematic modeling was carried out for the manipulator, and the kinematic and inverse kinematic formulas were deduced and verified.Differential transform method was used to obtain the Jacobian matrix of the manipulator,and the trajectory planning was implemented for the manipulator at joint and cartesian spaces.Results An ideal motion curve was formed by the trajectory planning of serial robot to realize its stable and high-efficiency motion at spaces.Conclusion Serial robot is facilitated to execute the treatment of hazardous biochemical products, and references are provided to other researches on serial robot.