S-Velocity Profile of Industrial Robot Based on NURBS Curve and Slerp Interpolation

This paper presents a novel algorithm for industrial robot trajectory planning based on the NURBS(Non-Uniform Rational B-Spline) curve and Slerp interpolation aiming at problems that of six-axis is not smooth enough in operation process, posture process non-uniform, starts stops frequently. Firstly, first problem, NURBS presented to improve smoothness curve. Combined with quaternion description, which realizes uniform change robot’s end-effector. Secondly, second S-velocity interval robot, complex curves continuously, improves quality. Finally, this uses Bernoulli’s lemniscate as incentive trajectory, contrast experiment between two profiles designed, are five-order polynomial The result indicates proposed could effectively Cartesian workspace, decrease impact tremulous performance working process. results drawn from lay certain foundation future high-precision control robots.