Abstract：Under the background of the research on traceability technology of pose measurement equipment, a standard path should be planned to reflect the difference of measurement under the same condition. And in order to design the standard path which has the economic rationality, high efficiency and high accuracy, the influences of different spatial trajectory curves on measuring equipment should be studied, such as laser tracker and visual measurement equipment. The industrial robot was took as the research object, the D-H parameter model of the robot was established, the structure and connecting rod parameters were analyzed, and kinematics equations were derived. The correctness of forward and reverse kinematics of the robot were verified using MATLAB robotics toolbox. The trajectory planning methods were analyzed and simulated in joint space and cartesian space on the basis of the industrial robot kinematics model, such as three times polynomial interpolation method and five times polynomial interpolation method. Through a series of simulations, it is concluded that the method of higher degree polynomial interpolation in joint space for standard trajectory planning can be used. The simulation images can also verify the smooth joint trajectory and ensure the speed and the continuity of the measurements. The analysis and simulations provided the theoretical foundation for the further study of trajectory on the influence of different measuring equipment and standard path planning.
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2020, Vol. 41 
