The Combination Trajectory Planning of Serial Robot in Cartesian Space and Joint Space

In order to improve the working efficiency of serial robot, a new trajectory planning method is proposed. Taking 6-DOF robot as an example, the 6-DOF open-chain robot is transformed into a 12-DOF closed-chain robot by creating a virtual robot at the end-effecter. Then, the virtual joint variable of the virtual robot is used to represent the end position of the robot, and the direct relationship between the joint variable and the position attitude is obtained. The B-spline Curve is used to plan the trajectory in the Cartesian space, and the joint motion trajectories of the robot are controlled indirectly to meet the requirements of the joint space speed and acceleration. Finally, the time-optimal solution of the trajectory programming is solved by the Genetic Algorithm under the condition of satisfying the joint space and the Cartesian space.