Trajectory Planning for a Articulated Robot

Abstract:

This paper focuses on the robot trajectory planning algorithm in-depth study, we propose a new path planning algorithm to ensure that the velocity and the acceleration of the starting point and the destination point are zero at the same time, and there are continuity of the intermediate points also.Give the matlab simulation waveform diagram and the algorithm at last,and this trajectory planning provides a good reference value for robot trajectory studies of future.

• Periodical: Applied Mechanics and Materials (Volume 742)
• Pages: 576-581
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.742.576
• Online since: March 2015
• Authors: Kai Kai Wang, Jia Qi Li, Yuan Wei Zou, Cheng Li Wang, Liu Bo Liang
• Keywords: Cubic B-Splines Trajectory Planning, Fifth Polynomial Trajectory Planning, MATLAB Simulation, Trajectoryplanning

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