Kinematics analysis and trajectory planning of polishing six-axis robot

Abstract

With the development of intelligent manufacturing, due to the low production efficiency and poor production environment of manual polishing, which is gradually replaced by the polishing robot. Take the polishing robot as the research object in this paper, a three-dimensional model of the robot with the end effector is established. The kinematics is modeled, solved and simulated with the D-H method and MATLAB Robotics Toolbox. The trajectory planning of the robot in joint space and cartesian space is analyzed and simulated.