关键词: 二次插补, 机器手臂, 轨迹规划, MATLAB仿真

Abstract: Sharp corners may appear in robotic arm’s trajectory planning by using general interpolation method. In order to eliminate the sharp edges and make the machine arm have a continuous velocity and acceleration under non uniform motion state, a new circularconnectionmean linear interpolation method is proposed. Then, a quadratic interpolation is performed, under which the acceleration and deceleration have good smoothness. A simulation about the algorithm is made under the environment of MATLAB. The optimal planning path can be obtained via performing the algorithm and selecting the adjustment fitting degree. Finally, the good feasibility of the algorithm is confirmed in the robot arm’s trajectory planning.

Key words: two interpolation, robotic arm, trajectory planning, MATLAB simulation