关键词: 机械手, 路径点, 多项式, Newton插值, 轨迹规划

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