Robot trajectory simulation and joint control based on Matlab

Firstly, according to the standard D-H parameter method, the linkage coordinate system of six-joint arm robot is established, then the forward and inverse kinematics equations are derived, and the simulation model of the robot is built in Matlab. The trajectory planning and simulation of the robot are carried out in the joint space and Cartesian space respectively by using the Matlab robot toolbox. Based on the trajectory data generated in the joint space, the hardware control of the robot joint in the loop and the real-time tracking of the trajectory are realized. The experimental results show that the model can accurately realize the trajectory control of robot joints, which opens up a new way for robot control.