Abstract
In order to realize object loading and improve loading efficiency, a six-degree-of-freedom robot is taken as the research object, and its kinematics analysis and trajectory planning research are carried out. Establish a kinematic model for the loading robot, and perform forward and inverse kinematics analysis; use Monte Carlo method to solve the robot’s workspace, and obtain a point cloud image of the workspace at the end of the robot; perform a trajectory planning simulation on the loading robot to obtain The position, velocity and acceleration curve of each joint during the movement. The results show that the robot moves continuously and smoothly, the scope of the working space is appropriate, and the loading work can be completed.
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Xu, D., Wang, Z., Li, H., Wang, X., Cao, Z. (2022). Research on Kinematics Analysis and Trajectory Planning of Loading Robot. In: Sun, X., Zhang, X., Xia, Z., Bertino, E. (eds) Artificial Intelligence and Security. ICAIS 2022. Lecture Notes in Computer Science, vol 13338. Springer, Cham. https://doi.org/10.1007/978-3-031-06794-5_40
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DOI: https://doi.org/10.1007/978-3-031-06794-5_40
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