Kinematics Analysis and Trajectory Planning of Package Sorting Manipulator Based on D-H Method

Abstract

In the process of modern industrial automation, manipulator is widely used in industrial production line. Aiming at the problem of a large amount of repetitive work such as sorting, grasping and packaging, which is common in automatic production lines, the Mitsubishi RV-4FL-D manipulator is taken as the research object, and the kinematics model is established using the standard D-H method, and the six degree of freedom manipulator is analyzed and studied. The forward and inverse kinematics analysis and trajectory planning simulation of the manipulator were carried out using the Robotics Toolbox on the MATLAB simulation software platform, and the simulation data was tested on the actual Mitsubishi manipulator. The experimental results show that the established kinematics equation is correct and feasible and the data obtained by simulation can be applied to the motion control of the actual manipulator to achieve the accurate and reliable operation.