码垛机器人的CP轨迹规划

对于码垛机器人，轨迹规划的核心是控制曲线的选取和其算法的实现，其轨迹规划是有的束非线性形的复杂问题，本文根据求得的逆运动学解，用ＭＡＴＬＡＢ软件对轨迹规划进行编程，得出了关节变量的运动曲线，为以后的伺服控制提供了依据。

CP Trajectory Planning of the Stacker Robot

With the development of industry, the requirement of the velocity and position of a robot is higher than before. To a stacker robot, the key of the trajectory planning is the selection of a control curve and the realization of the calculating method. Its trajectory planning is a constraint and non-liner implication problem. On the base of inverse kinematics' solution, this paper develops programs by use of MATLAB and draws the motion curve of the joint variable, which provides servo-control with reference.