RV12L-6R机器人轨迹规划及其应用研究

Study on Trajectory planning and application for RV12L-6R robot

机器人的轨迹规划可以在关节空间中进行，也可以在直角坐标空间中进行。分析了这两种轨迹规划的特点，给出了基于关节空间的轨迹规划算法和基于直角坐标空间的轨迹规划算法。针对ＩＶＥＣＯ横梁的焊接，进行了机器人的轨迹规划研究，并进行了计算机仿真，该研究成果已应用于ＩＶＥＣＯ横梁焊接工作站系统。

The trajectory planning of robot can be done in joint space coordinate and cartesian space coordinate. This article presents the features and trajectory planning algorithm. At the last, the trajectory planning of welding robot for IVECO automobile crossbeam is developed.