Abstract
The algebraic-trigonometric Hermite polynomials curves possess the properties similar to those of normal cubic Hermite curves, while preserving the Ck – continuity without solving linear equation systems. In this paper, we design the manipulator trajectory using algebraic-trigonometric Hermite polynomials curves, and we can interpolate data points for manipulator via given curves. Therefore, in manipulator joint space, the continuous displacement, angular velocity and angular acceleration can be achieved, which lead to smooth and continuous manipulator movements. This new method approved to be practicable by the experimental results, meets the requirements of the manipulator.
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