TRAJECTORY PLANNING OF 6-DOF MANIPULATOR BASED ON GAUSSIAN PROCESS REGRESSION METHOD

Jinzhi Zhao, Shizhao Wang, Aibing Jiang, Jin Xiao, and Bin Wang

Keywords

GPR algorithm, trajectory planning, 6-DOF manipulator

Abstract

The key technology of 6 degrees of freedom (6-DOF) manipulator trajectory planning is to design a set of robot arm trajectory planning algorithms. The trajectory planning algorithm designed in this article can calculate the expected trajectory of the 6-DOF manipulator end-effector. A curve interpolation trajectory planning algorithm in joint space based on Gaussian process regression (GPR) is proposed. To plan the continuous path trajectory for manipulator working in a joint space, GPR is used to get the position, velocity and acceleration curve of each joint trajectory of the arm and to prove that when the algorithm achieves the goal of the arm trajectory planning in the task space, the joints can have prominent advantages in the smooth and precision. The experimental results show that the GPR curve interpolation algorithm can effectively reach the points of arbitrary distribution in the task space, and it runs smoothly and accurately.

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