Circular Trajectory Planning with Pose Control for Six-DOF Manipulator

This paper presents a circular trajectory planning with pose control for the six-DOF manipulator. Establish a circular trajectory according to the variable input points and radian values in Cartesian coordinate system. Then take the piecewise quintic polynomials as the motion model of the end-effector to ensure the jerk curves are continuous. Finally, accomplish the motion planning under the kinematic constraints to achieve the stable operations of the manipulator. The synchronous control for position and orientation achieves the pose control. Requiring the end-effector to move with the different orientation control schemes along the same trajectory path is usual. In this paper, two different fixed orientation control schemes are introduced and the simulation experiments for them show the circular trajectory planning of the six-DOF manipulator with pose control is effective.

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