【正文】 199次即整體直線(xiàn)軌跡分為200個(gè)點(diǎn)，每個(gè)坐標(biāo)點(diǎn)進(jìn)行逆運(yùn)動(dòng)學(xué)求解得到200組關(guān)節(jié)角度值。點(diǎn)線(xiàn)則表示角加速度曲線(xiàn)。 ⑧的速度保持連續(xù)； ⑨的加速度保持連續(xù)； ⑩點(diǎn)位置。規(guī)劃實(shí)質(zhì)是根據(jù)需求，計(jì)算出預(yù)定的軌跡曲線(xiàn)，在軌跡規(guī)劃時(shí)可以再運(yùn)動(dòng)學(xué)與動(dòng)力學(xué)的基礎(chǔ)上進(jìn)行規(guī)劃，所以規(guī)劃是建立在運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)基礎(chǔ)上的。第一節(jié) 機(jī)械臂的正運(yùn)動(dòng)學(xué)分析 機(jī)械臂從關(guān)節(jié)空間到末端笛卡爾空間的變換是正向運(yùn)動(dòng)學(xué)描述。1954年：美國(guó)人戴沃爾制造了世界第一臺(tái)可編程的機(jī)械手。路徑規(guī)劃算法的計(jì)算量取決于任務(wù)、環(huán)境的復(fù)雜性以及對(duì)規(guī)劃路徑質(zhì)量的要求，一個(gè)好的路徑規(guī)劃算法應(yīng)該兼顧對(duì)規(guī)劃速度和路徑質(zhì)量的期望?！娟P(guān)鍵詞】 運(yùn)動(dòng)分析 工作空間 算法研究 軌跡規(guī)劃ABSTRACT Space manipulator is a machine, electricity, heat, charged with high integration of space mechanical system integration. With the development of science and technology, especially the birth of aviation aircraft, a robot has been widely used, the trajectory of space manipulator as the support and services to people39。s attention. This article will space manipulator as the research object, according to the linear motion of the space manipulator, joint planning, space of the straight line and curve, the trajectory planning of several aspects of mechanical arm movement and working space are analyzed, and the trajectory planning of manipulator is verified, the trajectory of manipulator is to make use of MATLAB software simulation, verify the correctness and feasibility of the algorithm, at the same time this path planning method can improve the efficiency of mechanical arm, improve the theoretical guidance for mechanical arm operation, simulation and path planning for robot more plicated movement. This article is divided into four chapters altogether: The first chapter, first summarizes the mechanical arm motion control and path planning problem research status and research methods, summarizes the variety of trajectory planning algorithm and the method of optimization, and expounds the research background and main content of mechanical arm. The second chapter, the paper studied the space motion of mechanical arm, the numerical method, monte carlo method are deduced with the method of sampling, the workspace for mechanical arm is, at the same time the simulation in MATLAB, intuitive display mechanical arm work scope, providing theoretical basis for the next chapter of trajectory planning. At the same time through dh method of positive and inverse kinematic analysis of the mechanical arm, analyze the difference and contact. The third chapter, mainly aims at the general problem of trajectory planning is analyzed, using cartesian space trajectory planning method for trajectory planning, mechanical arm at the same time, MATLAB is used to analyse the spatial straight line and arc trajectory planning, through the simulation verify the correctness and feasibility of the algorithm. The fourth chapter, summarizes the full text, analysis of the control algorithm is applied to the mechanical arm in this paper, through the MATLAB results can be concluded that the correctness of algorithm, can provide effective path of mechanical arm movement, and improved the other used in space manipulator path planning problem.[key words] motion analysis,work space,trajectory planning,algorithm research 32 目錄摘 要 1 ABSTRACT 2 第一章 緒論 5 第一節(jié) 研究背景及意義 5 第二節(jié) 國(guó)內(nèi)外發(fā)展現(xiàn)狀 6 一、國(guó)內(nèi)現(xiàn)狀 6 二、國(guó)外現(xiàn)狀 6 第二章 機(jī)械臂的運(yùn)動(dòng)分析 8 第一節(jié) 機(jī)械臂的正運(yùn)動(dòng)學(xué)分析 8 第二節(jié) 機(jī)械臂的逆運(yùn)動(dòng)學(xué)求解 10 第三章 五軸機(jī)械臂軌跡規(guī)劃與仿真 11 第一節(jié) 軌跡規(guī)劃一般問(wèn)題 11 第二節(jié)