A method for industrial robot manipulators trajectory planning based on piecewise continuous function

To study the trajectory equation based on the transport process of industrial robot manipulators. Selecting 4-DOF manipulators as the object of study in this paper, a method for robot trajectory planning based on piecewise continuous function is presented. The proposed method, aiming to reduce the peak values of velocity and acceleration, is fully combined with advantages of both trapezoidal function and trigonometric function. In this way, not only enables the continuity of its speed, acceleration, but also the execution time can be shorten relatively. At last, the experimental platform which is composed of 4-DOF manipulators is used to verify the trajectories. And the results show that the means which are proposed in this paper are feasible and effective.