The Adaptive And Controllable Trajectory Planning Technology Based On Cubic Spline

Industrial robot in domestic has a big gap with the developed countries in the world because of the development of industrial robot started behind. Trajectory planning technology is a core module of industrial robot motion control system, the research on trajectory planning technology plays a key role for enhancing the performance of industrial robots.This paper analyzes the kinematics and designs robot kinematics forward-reverse algorithms at position and orientation based on common industrial robot with six free degrees, research trajectory planning technology that abstractively divided into two layers: speed planning and trajectory generation. In the speed planning layer, two kinds of adaptive controllable S-type speed planners based on high performance S-model speed control curve that are S-type speed planner based on a given running speed and S-type speed planner based on a given running time are designed. In the trajectory generation layer, three trajectories consisting of linear, circular and cubic B-spline are studied in cartesian space; and the smooth transition trajectory generating algorithms including linear to linear, linear to circle and non-uniform cube B-spline to non-uniform cube B-spline in cartesian space are studied; the independent and transition trajectories planning in in cartesian space that based on S-type speed planner are accomplished. Finally, algorithms are packaged in C++ language and simulation on test results are done in MATLAB environment.Through a large number of experimental tests, the results show that the trajectory planning techniques based on cubic spline reach the effect of adaptation and controlling. Additionally, trajectory planning algorithms based on cubic spline are verified correctly by simulation figures.