Study Of Industrial Robot Trajectory Planning In Cartesian Space

Because of its high versatility, adaptability, wear and security, industrial robot has been applied widely in industry. It increases the efficiency of production, improves the work condition and achieves industrial high automation. Trajectory planning is the basic planning of industrial robot. It would affect stability and accuracy. And it is the indispensable one of the industrial-robot control systems. So it has gained great attention.Basing on the kinematics of industrial robot, this paper solves the forward kinematics and inverse kinematics of Six-Degree-Of–Freedom Spraying Robot which is researched by the Robot Research Laboratory in South Chine University of Technology cooperating with the Guangzhou Shukong Equipment LTD.This paper mainly studied the trajectory planning of industrial robot in Cartesian space, including spatial straight-line and spatial circular arc, spatial concatenating straight-line and straight line-circular arc, cubic uniform B-spline curve, cubic uniform rational B-spline curve and non-uniform rational B-spline curve. These trajectories are interpolated twice. The first interpolation mainly assures the accuracy of trajectory. Its velocity is trapezium, which only fits the deceleration motion. The second interpolation uses cubic spline curve to interpolate the points which are gotten from the first interpolation. Thus it would gain the continual smooth velocity curve, which fits the demand of continual acceleration.This paper uses Microsoft Visual C#.NET to compile the trajectory planning algorithms above, and conducts the trajectory planning simulation using MATLAB.Finally validate those trajectory planning algorithms.