The Research Of Robot's Trajectory Planning

Robot' s trajectory planning is very important in the control of robotics. Based on demands and restrictions of trajectory planning, this paper presents a novel methods of trajectory planning. In the operation space, depending on whether path constraints and motion constraints , we make trajectory planning. By the researching processes of concrete analysis of trajectory planning on robot' s manipulator arm , imitation of trajectory based on kinematics and optimization of trajectory in the articulation space, this paper formulizes general regularity of robot' s trajectory planning. The method researched resolves contradiction between real-time and accuracy in the operation space ,and problem of minimal optimization about time.In process of the trajectory planning depending on robot' s kinematics , we propone a method which can get middle nodal point with normalizing factor in order to simplify our process, in addition , includes actual physics signification. For eliminating contradiction between real-time and accuracy, we bring forward separately limit of error and reversal interpolation method .In the end , for decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space. In the imitation process of trajectory algorism based on kinematics .under VC++, we demand the requirements of calculation and drawing by calling Matlab. In the articulation space, we optimize time; form module by adopting B spline curve, which including speed and acceleration constraint. We make use of mainly compound form optimizing program to find optimal solution.