Cartesian space trajectory planning on 7-DOF manipulator

This paper combines the 7-DOF manipulator in the application of nursing robot, building its kinematics models with D-H method and analyzing the inverse kinematic problem with geometry method. To make the acceleration continuous, a trajectory planning method of trapezoid velocity curve is proposed in this paper, whose four inflection points are supposed to be transited with parabola in Cartesian space. Thus, the velocity will be continuous and smooth. Finally, after the target is identified and located by artificial marker, the experiments of grasping bottle and opening door are carried out to verify the feasibility of linear and arc trajectories planning.