Research on B-Spline Curve Trajectory Planning Method Considering Curvature

Abstract

To solve the problem of free curve planning for the robot with smoothness requirements, this paper proposes a free curve interpolation algorithm based on cubic B-spline curves. This algorithm can calculate smooth curves according to arbitrarily distributed teaching points in space and decelerate at curvature extremum points during motion. Firstly, the smooth interpolation result of the entire curve is obtained based on cubic B-spline curve, and the compound Simpson's formula is used to calculate the curve length. And then, the S-shape velocity planning method is adopted on the segmented curve to ensure the smoothness of robot movement based on curvature extremum points. Finally, the verification through simulation experiments shows that this algorithm can effectively realize the free curve planning of the robot to improve the smoothness of motion.