Trajectory Planning of Ammunition Loading Robot Based on Cubic-B Spline

摘要

To solve the problem of continuous and steady work and obstacles avoidance of ammunition loading robot, the trajectory plan method of ammunition loading robot based on cubic-B spline has been put forward. The paper analyzed the solution of cubic-B spline, finishing the obstacle avoiding trajectory plan of ammunition loading robot with key control points in joint space based on cubic-B spline, and the ammunition loading robot joints' angular displacement, angular velocity and angular acceleration is simulated by dynamic simulation software, the results showing that the method can quickly generate obstacle avoidance trajectory and dynamic characteristics of the trajectory is fine, guaranteeing the ammunition loading robot work smoothly with no impact and avoid obstacles effectively.