三次均匀B样条在工业机器人轨迹规划中的应用研究 轨迹规划 梯形速度函数 B样条插补 估算步长

自适应遗传算法交叉变异算子的改进论文

两点间五次多项式轨迹规划，首先安装机器人工具箱，再执行matlab程序。这是直接用工具箱中的，默认是五次多项式。如果想用笛卡尔和关节空间的不同轨迹规划以及不是五次多项式例如样条的，联系我CSDn。

基于Ｓ曲线的加减速速度规划，可根据设定的起点、终点以及加加速度、加速度、速度信息等进行加减速速度规划

机器人轨迹生成经典书籍 This book deals with the problems related to planning motion laws and trajectories for the actuation system of automatic machines, in particular for those based on electric drives, and robots. The problem of planning suitable trajectories is relevant not only for the proper use of these machines, in order to avoid undesired effects such as vibrations or even damages on the mechanical structure, but also in some phases of their design and in the choice and sizing of the actuators. This is particularly true now that the concept of “electronic cams” has replaced, in the design of automatic machines, the classical approach based on “mechanical cams”. The choice of a particular trajectory has direct and relevant implications on several aspects of the design and use of an automatic machine, like the dimensioning of the actuators and of the reduction gears, the vibrations and efforts generated on the machine and on the load, the tracking errors during the motion execution. For these reasons, in order to understand and appreciate the peculiarities of the different techniques available for trajectory planning, besides the mathematical aspects of their implementation also a detailed analysis in the time and frequency domains, a comparison of their main properties under different points of view, and general considerations related to their practical use are reported.

随机快速扩展树路径规划算法代码实现，好几个例子，非常值得学习。

通过合理的轨迹规划，使得puma机械臂能够在末端画出正方形。

机械臂轨迹规划 matlab源程序 可以直接运行 可以达到一定的精度 (2012-07-10, matlab, 9KB, 9次).rar

点到点轨迹规划的S曲线，已知起始位置、终止位置、最大速度、最大加速度、总的运动时间、这5个参数，自动计算出运动规划曲线（若输入的参数不合适，代码可以自行计算出合适参数）

基于MATLAB_Robotics工具箱的工业机器人轨迹规划及仿真研究