机器人在笛卡尔空间中直线运动轨迹规划的一种方法

An Algorithm of Linear Tragectory for Robotin Cartesian Space

本文给出用有理二次参数曲线连接直线路径的算法．该方法包含了用园锥曲线（抛物线．双曲线，椭园）连接的所有形式，且便于处理轨迹误差问题.

This paper presents an algorithm to join the linear trajectory by rotional quadratic parametric function for robot in Cartesian space. The algorithm is universal and easy to cal- culate the trajectory error.