Design and Simulation Analysis of Trajectory Planning Algorithm for 6-DoF Manipulator Based on Deep Learning

Table 1

Trajectory planning algorithms.

Trajectory planning methods	Advantage	Shortcoming
Lines and arcs	Relatively simple and intuitive, small amount of calculation	The applicable surface is relatively narrow
Cubic polynomial	Simple, small amount of computation	Unrestricted acceleration, shocks exist, and limitations are large
Higher-order polynomials	High motion efficiency and smoothness, the higher the polynomial degree, the better the accuracy and fit	Vibration prone to high frequency
S Speed curve	Fully guarantee the smooth transition of the speed and acceleration of the entire trajectory	There is a step in the acceleration curve, which is easy to cause mechanical wear
Spline	Smooth trajectory, continuous speed and acceleration	Large amount of calculation and high hardware requirements