Trajectory Smoothing Based on Beizer Curve

In the practical application of industrial robots, the motion trajectory of the robot is usually composed of multiple straight lines or arcs spliced together. For the control of continuous motion trajectories, it is usually necessary to ensure both trajectory accuracy and a certain trajectory speed, which requires smooth transitions between paths and velocities at the corners between adjacent line segments. In this paper, we propose a trajectory planning and smoothing method based on Bezier curves. At the junction of adjacent trajectories, a Bezier curve shaped turning area is inserted, which can achieve trajectory smoothing in both plane and three-dimensional space, improve the trajectory and velocity smoothness of the robot in the turning area, and thus enhance the robot's motion rhythm.