A trajectory planning method based on feedforward compensation and quintic polynomial interpolation

The live-working robot is placed on the aerial working platform to connect the drainage wire. Due to the sloshing of the manipulator base on the platform, the effective operation is seriously affected by the end position error of the manipulator. Aiming at this problem, a trajectory planning method based on feedforward compensation combined with quintic polynomial interpolation is proposed in this paper. The angle and angular velocity constraints of every joint of the manipulator are determined by establishing the kinematic model of the manipulator. Analyze the sloshing characteristics of the base of the manipulator, and combine the movement time of the manipulator from the initial point to the target point to predict the position error of the end of manipulator. The feedforward compensation is performed to correct the target point, and quintic polynomial interpolation is used to plan the compensation end trajectory. Based on the analysis of the sloshing law of the base of the manipulator, the effectiveness of the method is verified by simulation experiments, and the target point can be reached accurately.