四自由度机器人轨迹规划算法研究与实现

摘要

对四自由度机器人轨迹规划的理论方法进行了研究，主要介绍了关节空间中的三种插值时间函数：三次多项式插值、五次多项式插值和带抛物线过渡的线性插值，比较分析不同算法间的优缺点。然后以MT－R四自由度机器人为实验平台，基于MFC框架类，用VC＋＋开发一套机器人控制系统，软件实现轨迹规划算法。%This paper discusses the theory method of trajectory planning of 4-DOF robot,and analyzed three methods of trajectory planning based on joint space:the cubic polynomial trajectory planning,the fifth polynomial trajectory planning and the parabola transition trajectory planning,and analyzes,compares the characteristics of different algorithms.Through the experi-ment platform of MT-R Robot,this paper develops a robot control system by VC++,based on MFC.