Trajectory planning of robot was also researched. In this paper, path planning algorithm in the joint space and two kinds of linear interpolation algorithms in the Cartesian space were introduced.

• 本文还研究了机器人轨迹规划技术,讨论了SCARA机器人的关节空间轨迹规划算法和笛卡儿空间的两种直线轨迹插补方法。