Track constant-speed transition method and device based on Cartesian space

The invention provides a trajectory constant-speed transition method and device based on a Cartesian space, and relates to the technical field of robots. The method comprises the steps that the transition point position, the transition point speed and the transition point acceleration of a transition arc track between a first track and a second track are determined, and the first track and the second track are tracks before and after robot transition; various parameters in the built quintic polynomial model of the transition arc track are solved by using the transition point position, the transition point speed and the transition point acceleration, and a quintic polynomial expression of the transition arc track is obtained; and under the condition that the transition circular arc track expressed by the quintic polynomial expression does not have the reverse direction, the maximum constant transition speed of the robot on the transition circular arc track is obtained by using the acceleration constraint condi