Research on Trajectory Planning of Multi-DOF Manipulator Based on Arduino

With the development of industry and manufactory, the high efficiency of production process becomes more and more important. As a most commonly used operating platform, the research of the manipulator controlling and trajectory planning still remains popularity. This paper designed a 6-DOF manipulator grasping platform based on Arduino with a MATLAB calculation core. First, a PCB was designed to control the manipulator. Then, the modelling and servo angles calculating were finished by kinematics analysis. The trajectory planning was realized by quintic polynomial interpolation. At last, the comparison experiments between the simulation and the real manipulator showed that the manipulator was able to real-time track the whole path according to the results of trajectory planning. The manipulator grasping platform realized the expected function and had a robust performance.