A method for trajectory planning of robot manipulators in Cartesian space

摘要

Presents a technique for robot continuous-path motion trajectories planning in Cartesian space. The motion trajectories are specified by a group of parameter equations in Cartesian coordinates. The time interval [0, T] is divided into m segments, and the coefficients of the polynomial at each segment can be obtained in recurrence form. The problem of minimum time trajectories planning and the determination of m are also studied in the paper.