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

The cubic B-spline curve and NURBS curve are commonly used curves in continuous path trajectory planning for industrial collaborative robots. This article analyzes and presents the basic principles and characteristics of two types of curves in implementing path planning. Using the case analysis method, generate spline curves and NURBS curves corresponding to three sets of control points with different characteristics, as well as their first and second derivatives. The article discusses the smoothing characteristics of two types of curves and the influence of related parameters on the path curve. Compare and analyze the advantages and disadvantages of the B-spline method and NURBS method, briefly analyze their different applicable scenarios, and provide the basis for selecting methods in continuous path trajectory planning. The research results and conclusions of this article provide reference for trajectory planning of industrial collaborative robots.