Study of Robot Trajectory Based on Quintic Polynomial Transition
Minqi Cui · Coal Mine Machinery · 2011
Robot trajectory is studied based on quintic polynomial transition.The continuous curve is planned in Cartesian space,and corner of continuous curve is planned in joint space using quintic polynomial.The combinatory of Cartesian space and joint space mades robot trajectory continuous and smooth.Velocity and acceleration is continuous and smooth too.This is useful for high moving and decreases vibration of manipulator.