Research and Simulation of Robot Trajectory Planning in Joint Space
Studying methods of robot trajectory planning which based on polynomial and trapezoidal velocity profile in joint space. The trajectory of one joint robot and joints robot is simulated by MATLAB. The simulation results shows that it satisfies restraint conditions of robot position velocity and acceleration in motion, it guaranteed smooth and continuity.
X. P. Hu and F. Y. Zuo, "Research and Simulation of Robot Trajectory Planning in Joint Space", Applied Mechanics and Materials, Vol. 103, pp. 372-377, 2012