基于混合插值的工业机器人关节轨迹规划算法

B样条曲线由于其多阶导数连续和局部支撑性的特点，被广泛用于工业机器人关节空间的轨迹规划。标准B样条在起止点位置存在导数值的突变，致使工业机器人在启动和停止时产生振动。提出一种采用高次多项式与B样条混合插值优化的方法，使机器人关节运动学参数连续无突变，在不增加机器人控制系统运行负担的情况下，能够使机器人运行更加平稳，改善了机器人的运行状态。

Joint Trajectory Planning Algorithm for Industrial Robots Based on Mixed Interpolation

B-spline curves were widely used in trajectory planning of industrial robots in joint spaces due to the multi-order continuous derivative and local supporting characteristics.Derivative values of B-spline existed with sudden changes at the beginning and end positions，which might result in vibrations for industrial robots when starting and stopping.A new method to optimize interpolation of high order polynomials and B-splines was proposed herein，so the kinematics parameters of robot joints would be continuous and not mutational.Thus the robots may run more smoothly，the operations of the robot states are improved without increasing operating burden of the robot control systems.