Aiming at the appearance of dithering caused by the discontinuous of the speed or acceleration of industrial robot during operating

a kind of trajectory planning algorithm based on B-spline curve is put forward

which use cubic B-spline curve to plan the joint space of robot with six degrees of freedom.According to the request of processing real-time interpolation points

a cohesive interpolation algorithm based on ARM9 is used to solve this problem

which eventually used in the embedded system.It is proved by experiment that this algorithm can not only reduce computation but also shorten processing time

and of course can guarantee the smooth of curve

eventually reducing the continuous mechanical wobble.