The robot motion trajectory algorithm research based on B-spline and new velocity planning

To obtain the ability of machining free-form curve trajectory accurately for open Welding robot system based on LinuxCNC, this paper directed at the traditional speed control algorithms which can't achieve efficiency requirements and proposed new velocity control algorithm. The paper also studied the B-Spline mathematic model and its interpolation principle based on the new control algorithm, proposed three B-Spline curve Instantaneous velocity interpolation algorithm and the design steps of B-Spline curve interpolation algorithm in LinuxCNC system. The experimental simulation results showed that B-Spline interpolation algorithm can realize free-form curve tracking in LinuxCNC system, and showed a good curve run effect in the preview screen.