Trajectory interpolation system for industrial manipulator
                                            YOU Wenhui1, WANG Xiufeng2, LU Wenqi1, XU Xinjie1, ZHANG Hua1,3
(1.School of Mechanical and Automatic Control, Zhejiang SciTech University, Hangzhou 310018, China;2.Hangzhou Qixing Robot Technology Co., Ltd., Hangzhou 310010, China;3.School of Energy Engineering, Zhejiang University, Hangzhou 310007, China)

Abstract: Aiming at the problems of variable speed impact and low quality of space trajectory following operation in traditional trapezoidal velocity planning, the quintic polynomial method was applied to the trajectory interpolation system of industrial manipulator. The traditional trapezoidal acceleration and deceleration control model and trajectory interpolation system were analyzed. The mathematical model of quintic polynomial speed interpolation algorithm was deduced. The algorithm was modeled and simulated in Matlab. In order to verify the effectiveness of the algorithm, the hardware and software of the trajectory interpolation system for fouraxis manipulator were designed. The trajectory interpolation system and the realization process of space trajectory interpolation were also presented. Based on Linux development platform and SCARA manipulator, the trajectory interpolation system was built and tested. The results indicate that the system meets the design requirements of flexible interpolation while satisfying the parameter constraints. Compared with traditional methods, the impact peak value is reduced by more than 90%, and the work quality and efficiency of trajectory interpolation are improved.

Key words: industrial robot arm; trajectory interpolation; five degree polynomial; speed planning; Matlab simulation