Kinematic Analysis and Trajectory Planning for Serial Robot in Hazardous Biochemical Treatment

Aiming at the application of serial robot in the treatment of hazardous biochemical products, the kinematic analysis and trajectory planning are carried out in our study. Serial robot is used to replace humans to handle the hazardous biochemical products, making operations to be more accurate and efficient. The robot's kinematics modeling has been built through Denavit-Hartenberg (D-H) method. Forward and inverse kinematic equations have been deduced and validated. Then, the Jacobian matrix of the robot is obtained by the differential transform method. Finally, the trajectory planning is accomplished in Cartesian and joint spaces.