一种速度连续的运动规划方法

为了使电机运转时速度连续，在对比了几种常用的轨迹规划方法的基础上，通过分段拟合求值，提出了在启动、停止及不同速度转换时加入Ｓ形曲线加减速过程的运动规划方法．计算机模拟结果证明：所规划出的速度曲线连续，有效的减小了电机在运转时的冲击，运动更加平稳，并且编程容易实现．

A Motion Planning Method of Velocity Continuum

In order to make the velocity of running motor continuous, based on the comparison of several methods of track planning, a new method is recommended through subsection approaching. In the method, the acceleration and deceleration process of 's' shape curve is introduced at startup, stop and transition of different velocity. The result of computer simulation indicates that the planning velocity curve is continuous, and motion is more steady for the shock of motor in running is decreased in this method effectively. What's more, programming is very easy.