MOTION TRAJECTORY SMOOTH TRANSITION METHOD AND DEVICE AND RELATED EQUIPMENT

摘要

Provided are a method and device for smooth transition of motion trajectory and related equipment. The method for smooth transition of the motion trajectory comprises: obtaining a first trajectory (NP) and a second trajectory (PM) to be smoothly transferred and a preset contour error (E) (S11); determining a position of a feature interpolation point (Q) according to the first trajectory (NP), the second trajectory (PM) and the preset contour error (E) (S12); and according to the first trajectory (NP), the second trajectory (PM), the feature interpolation point (Q) and a general equation of interpolation curve, fitting an interpolation curve connecting the first trajectory (NP), the feature interpolation point (Q) and the second trajectory (PM). The method and device for smooth transition of the motion trajectory can accurately fit the interpolation curve, which realizes continuous curvature and speed, and can ensure the contour error of the equipment.