机械手空间圆弧运动的一种有效轨迹规划方法

本文提出了机器人末端过空间三点作空间圆弧运动的一种有效轨迹规划方法，并成功地应用于我们开发的电子装配机器人中．理论分析与实验分析的结果一致

This paper presents an effective trajectory planning method for spatial arc motion of manipulator through three points in space.We have successfully applied this method to the robot controller developed  by us for electronical assembly.Results of theoretical analysis are in good agreement with experimental results.