Research on Manipulator Path Smoothing Based on Quintic B-spline Interpolation
IIn view of the problem of sudden changes of trajectory smoothing,angular velocity and angular acceleration of path planning of the manipulator,this paper proposes a method of path smoothing for the manipulator based on quintic B-spline interpolation.The research adopts MATLAB to establish the manipulator model for simulation of the trajectory after smoothing and has obtained the curves of trajectory,angle,angular velocity and angular acceleration.Comparison results with the quintic polynomials and spline curves have proven that the algorithm applied is able to improve the smoothness of the angular velocity and angular acceleration of the manipulator,ensure that the velocity and acceleration of the starting and stopping points are zero,and can pass the control points to ensure effectiveness of the path.The algorithm applied is able to improve smoothness of manipulator movement,reduce motion impact and provide sufficient theoretical support for physical verification of the manipulator.
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