Trajectory Planning of Industrial Robot with 840D

Industrial robots is an indispensable part of modern industrial,it is very important to study trajectory planning of industrial robots. Since there are difficulties to study trajectory planning in Cartesian coordinates,researching trajectory planning in joint coordinates is a more feasible method. Quintic Polynomial curve can match robot's trajectory in the case that position,velocity,acceleration are all constrained. In the end,configuring SCARA robot,determining DH parameter,mathematically modeling with the improved Robotics Toolbox toolbox in Matlab and simulating trajectory planning,through The handling transformation packagemodule of 840 D. Through studying trajectory planning of SCARA robot,we found that the numerical solution was time-consuming and inaccuracy,to get the analytical solution of the industrial robot,standardization of structure design is one of the important development direction in the future.