基于关节空间工业机器人轨迹规划的研究与仿真

Research and Simulation of Six-axis Industrial Robot Trajectory Planning Based on Robotics Toolbox

利用Robotics Toolbox提供的轨迹规划函数,研究三次多项式、五次多项式等轨迹规划方法,在关节变量空间中仿真机器人运动轨迹,为国内工业机器人轨迹规划研究与实践提供一定的启示和借鉴作用。

By use of the trajectory planning function provided by Robotics Toolbox, the planning methods of cubic polynomial and quintic polynomial were studied, and the motion trajectory of an industrial robot in joint variable space was simulated, to provide some inspiration and reference for the domestic industrial robot trajectory planning research and practice.