Robot trajectory planning based on embedded system in joint space
Aiming at the appearance of dithering caused by the discontinuous of the speed or acceleration of industrial robot during operating,a kind of trajectory planning algorithm based on B-spline curve is put forward, which use cubic B-spline curve to plan the joint space of robot with six degrees of freedom. According to the request of processing real-time interpolation points, a cohesive interpolation algorithm based on ARM9 is used to solve this problem, which eventually used in the embedded system. It is proved by experiment that this algorithm can not only reduce computation but also shorten processing time, and of course can guarantee the smooth of curve,eventually reducing the continuous mechanical wobble.
NETL
NSTL
万方数据
维普
