摘要：In the process of the robot practical working, the change of motion direction of trajectory is inevitable. When the direction changes dramatically, the sharp angle between adjacent trajectories, which can generate the vibration of robot, affects the service life of the robot. In order to deal with the sharp angle between adjacent trajectories, we propose a method which can deal with the sharp angle transferring by inserting transition arc, which is called position level, to solve the trajectory speed control problem. We analyze three basic analytic trajectories—space line, space arc, and space parabola—and present the formula for calculating the parameters of circular-arc-related parameters and propose the implementation process of algorithm of robot system. Through the simulation and experiment, this method can solve the sharp angle trajectory transfer problem effectively, increase the transfer speed dramatically, and reduce the vibration of robot’s mechanical structure.
关键词：Industrial robot; palletizing robot; high speed; smooth transfer; position-level approach
