关键词: 板材安装机器人, 运动学分析, 空间直线轨迹规划, 五次多项式插值

Abstract: Based on the building slabstone-installing robot with independent development,related research was carried out about the space linear trajectory planning. The kinematics analysis was carried on the robot,and simulated CP control method with five times polynomial curve interpolation was used for the trajectory planning in the joint space,which ensures the real-time synchronization and velocity continuity in the movement control of each joint. With the help of Matlab robot toolbox and Labview programming software,related simulation and experiments were done to complete the task of space linear trajectory planning on the end of the robot.

Key words: slabstone-installing robot, kinematic analysis, space linear trajectory planning, five times polynomial interpolation