A Trajectory Planning Method For Six Degree-of-Freedom Robots Taking Into Account of End Effector Motion Error

The invention discloses a trajectory planning method for six degree-of-freedom robots taking into account of end effector motion error. Specifically, the invention disclosed a method for precise planning of robot end effector continuous trajectory by combining the screw theory, the cubic spline interpolation algorithm, and particle swarm optimization algorithm. Firstly, the forward kinematics model and the inverse kinematics model of the robot is established based on the screw theory to simplify the calculation process; Cubic spline interpolation is used in joint space to ensure smooth motion; finally, the end effector tracking error is controlled within the required range with the number of key points as the variable, then take the time intervals as design variable, take the maximum angular velocity, angular acceleration and angular jerk of each joint as the constraint conditions, and use tracking error minimization as the optimization objective, to perform optimization of the trajectory, in order to obtain a planning trajectory with high planning efficiency, small tracking error and smooth motion.