A multi-objective optimization trajectory interpolation method based on fifth-degree B-spline curves * .

With the increasing use of special-purpose robots with heavy load requirements in narrow and critical environments , the operation safety and collision avoidance of such robots have become closely related, making trajectory planning an important research direction today. This paper proposes a path points interpolation method suitable for generating multi-objective optimized motion trajectories for specific tasks, thereby improving the overall performance of the robot, especially its operational manipulability. It mainly focuses on the joint space of the robot, optimizing its velocity, acceleration, position, and force. We use two evaluation functions to compare the performance of the modified B-spline method, and employ a genetic algorithm to find the best solution. Simulation and experimental demonstrations are conducted to validate the effectiveness of the trajectory optimization. The trajectory interpolation method we proposed can optimize various performance aspects of the robot while also providing a wider range of optimization options.