Kinematics analysis and trajectory planning of AUBO-i5 cooperative robot based on MATLAB

Aiming at the stability of the AUBO-i5 collaborative robot during the movement, this paper uses the D-H parameter method to model the robotic arm and verifies the correctness of the robot model by solving the forward and reverse kinematics of the robot. First, the fifth-degree polynomial interpolation is used to plan the robot trajectory and the results obtained are abrupt. Secondly, the trajectory of the collaborative robot is optimized by fusing a uniform quintic B-spline curve, the repetition degree of the first and last nodes is set to k+1, so that the B-spline curve can pass through the first and last position points, ensuring the integrity of the optimization. Finally, the optimized joint angle, joint angular velocity and joint angular acceleration of the collaborative robot are continuous and smooth, which effectively reduces the stability problem of the robotic arm caused by the poor structural rigidity of the collaborative robot.