Method and system for generating trajectory of robot with continuous acceleration

A method for generating trajectory of a robot with a continuous acceleration is provided. Motion commands from users are received through a motion command interface, and the motion commands of users are transmitted to a Cartesian space trajectory generator. The commands of users are transformed to trajectory node data of the end of the robot in Cartesian space, and then transformed to trajectory node data in robot-joints space. Joint position, speed and acceleration in each motion servo cycle are calculated. The problems of overshoot or vibration of motion mechanisms caused by discontinuous and uncontrollable acceleration are effectively solved by the present invention.