六自由度机器人S型曲线速度规划

摘要

通过对机器人运动过程中的速度分段处理，得出平滑、稳定的速度曲线。根据矢量积法建立雅克比矩阵，将末端速度转换到机器人的关节速度，并且通过matlab仿真，验证这种规划方法的可行性。%Through the segmentation processing of robot motion speed,a smooth speed curve was obtained.Jacobi Ma-trix was created by vector method,and the velocity was translated from Cartesian space to joint space.Finally,matlab simu-lation results verify the feasibility of the velocity planning.