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0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">軌跡規劃是機器人運動控制的基礎，軌跡規劃的結果直接影響機器人工作過程中控 制系統的穩定性及其可靠性。合理的軌跡規劃能夠使機器人順利完成空間復雜的軌跡曲 線，并準確、快速、平穩的到達指定位置，因此，機器人的軌跡規劃算法研宄具有重要 的理論意義和工程價值。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle19" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">按軌跡規劃的空間分類，軌跡規劃方法可分為關節空間軌跡規劃法和工作空間軌跡 規劃法。在關節空間內對機器人進行軌跡規劃，得到的關節空間運動學擬合曲線可直接 用于機器人的運動控制，擬合曲線不需要運動學逆解轉換，不會發生機構的奇異現象; 在工作空間內對機器人進行軌跡規劃，得到的工作空間內的擬合曲線需要利用運動學逆 解轉換到關節空間，再將得到的關節空間內的擬合曲線用于機器人的運動控制，轉換過 程中可能存在轉換矩陣的奇異問題，但是，在一般情況下，在工作空間中進行軌跡規劃 得到的擬合曲線一般具有優良的工作空間性能。為了進一步研宄比較</span><span id="tpnrxl7j" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋體; 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