机器人关节空间的轨迹规划及仿真

为了保证搬运机器人在整个作业过程中运行平稳、连续，在关节变量空间直接进行轨迹规划，通过示教的方法，确定路径所经过的几个中间点。对于没有给定的区间，则利用5次多项式进行轨迹插补，可方便、实时地得到机器人末端执行器的目标轨迹。应用该方法对搬运机器人关节空间轨迹规划进行仿真，得到的机器人工作过程中4个关节的位移、速度、加速度的仿真直线平滑、连续。实际运行也证明搬运机器人的关节运动的轨迹控制达到了预期的目的。

Trajectory Planning and Simulation of Robot in Joint Coordinate System

In order to ensure motion smooth and steady of transport robot in process,trajectory planning was done in joint coordinate system.Some middle points in the path were determined by means of teaching,other points in path were defined by interpolation calculation of five order polynomial,the objective trajectory can be obtained conveniently and in time for robot trajectory planning in joint coordinate system.This method could be used to simulate joint trajectory planning of transport robot.The results show that the curves of position speed,and acceleration of four joint are smooth and successive.It is proved that trajectory control of joint is appropriate to transport robot.