Teaching Robot and Its Trajectory Planning Generation

摘要

This paper focuses on designing a kind of six degree of freedom teaching robot (STROB) and developing its trajectory planning method. STROB structure is introduced and kinematics parameters model is established. In order to make STROB generate smooth and continuous trajectory, non-uniform B-splines interpolation methods is analyzed and used to generate the robot's curved trajectory path. The simulation and practical application verify the proposed method effectiveness. The designed STROB can not only generate smooth and continuous trajectory path fast and smoothly, but also has the features that the robot body structure and control system are open and the inner structure of each joint is visible and debugged separately. It is suitable for popularization and application in teaching.