基于样条函数法的机器人运动轨迹规划

Trajectory Planning of Robot Manipulators by Using Spline Function Approach

利用样条函数法开发了一种机器人运动轨迹的规划方法，即各关节的运动采用样条函数来拟合。该法使用简便、计算量小，而且不会出现机构奇异点问题。

This paper presents a new method for trajectory planning of robot manipulators by using spline function approach. The motion of each joint of robot is specified by a set of spline function. The method is simple and has less computation amount. In addition, the strangepoint problem can not appear in the proposed method. So, the method can be used to generate a smooth, steady and noiseless trajectory of robots.