Analysis of Motion Control with Trajectory Planning for HP20 Manipulator

As an important area of the high-tech research, robotics technology is attached importance by governments. It has become important equipment in manufacturing of a country´s manufacture level and technological level. Robot kinematics analysis is the basis of robot motion control. According to the specific characteristics of MOTOMAN-HP20 manipulator, this paper established a kinematics model and set up the link coordinate with D-H theory. Meanwhile, it put forward a trajectory planning of the movement with specific motion control method.