Abstract:

For multi-station manipulator tasks in multi-node,a trajectory planning method was proposed,which combined polynomial interpolation and Newton interpolation in joint space.In the initial and final section,
five polynomial interpolations were used,and the Newton interpolation was used
in the middle section.
The method was applied to a class of  four DOF manipulator trajectory planning,the results show that in six given path point trajectory plannings,using trajectory planning
method proposed herein continuous paths are obtained,thus meeting multi-station manipulator task requirements.

Key words: manipulator, path point, polynomial, Newton interpolation, trajectory planning

摘要：

针对机械手多工位多节点的作业任务，提出了在关节空间中采用多项式插值和Newton插值相结合的轨迹规划方法。该方法在起始段和终止段采用五次多项式插值，中间段采用Newton插值。将该方法用于一类四自由度平面关节机械手的轨迹规划中，实验结果表明，在给定的6个路径点的轨迹规划中，利用该规划方法可以获得连续的轨迹，满足机械手多工位操作的需要。

关键词: 机械手, 路径点, 多项式, Newton插值, 轨迹规划