Research on Trajectory Planning Algorithms of Cartesian Space for Robots

摘要

In the process of working, according to certain prescribed paths, robots often finish a task smoothly, accurately and coordinately. In this paper, we study Cartesian linear interpolation algorithm, arc interpolation algorithm and quaternion-based attitude interpolation algorithm, and we verify the correctness of the above interpolation algorithm by software simulation of matlab, which lays a foundation for the control of robot motion.