Research on Path Trajectory Planning Method for End Effectors of Industrial Collaborative Robots

Cubic B-spline curves and NURBS curves are commonly used in continuous path trajectory planning for industrial collaborative robots. This paper analyzes the basic principles and characteristics of these two curves in path planning. Using a case study approach, three groups of control points with different properties were set to generate curves, first-order derivatives, and second-order derivatives using both the B-spline method and the NURBS method. The study discusses the smoothness characteristics of the two curves and the influence of related parameters on the path trajectory. A comparative analysis of the advantages and disadvantages of the B-spline and NURBS methods is then conducted to determine their respective applicable scenarios, providing guidance for method selection in continuous path trajectory planning. The results and conclusions offer a reference for trajectory planning in industrial collaborative robots.