Industrial Robot Trajectory Planning

There are some additional constraints such as moving along the specified path and the speed is continuous at the path points when the Industrial robots is performing a tasks. So the robot trajectory planning. Will be meaningful. The quality of the trajectory planning will directly affect the quality of the work of the robot. It is important in practical applications. In this paper. The trajectory planning based on GRB400is On the theoretical side.In the paper, Base on the actual GRB400robot. We established the D-H coordinate system, and analyzed the kinematics in the D-H coordinate system. These will be foundation for the next trajectory planning. First,We apply the cubic polynomial fitting trajectory curves and simulation the trajectory curve by MATLAB. then sampling the curve of the cubic polynomial planning, and fit all sampling points by B-spline Article trajectory planning method.We solve the curve fitting of a first derivative and second derivative and simulation of the fitted curve and its first derivative, second derivative by MATLAB. B-spline trajectory planning is a fitting error of zero interpolation method, the lack of fault tolerance. So we study tolerant RBF neural network trajecto-y planning method in practical applications. RBF trajectory planning method is effective and reasonable. The RBF arithmetic provide theoretic for the trajectory planning of robot and has also great application value In practice.