This paper discusses a minimum of parameters to determine the trajectory of a circular interpolation method and the method of frequency control stepper motor.
文中讨论了一种以最少参数确定一条圆弧轨迹的插补方法和步进电机变频调速的方法。
At last, a trajectory planning strategy was put forward to guarantee the trajectory in the interpolation process meeting the smoothed constraints of velocity, acceleration and jerk.
最后，对插补周期内节点的轨迹进行了规划，以确保运动轨迹满足速度、加速度以及加加速度的平滑约束条件。
These trajectories are interpolated twice. The first interpolation mainly assures the accuracy of trajectory. Its velocity is trapezium, which only fits the deceleration motion.
本言对所研究的轨迹规划采用两次插补，第一次插补主要是保证轨迹的准确性，其运动速度曲线为梯形曲线，只适合机器人低速运动的情况。
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