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为了使机器人具有良好的运动特性，本文从机器人轨迹规划出发，采用了Ｃｌｏｔｈｏｉｄ 曲线生成机器人各关节运动轨迹；该方法利用Ｃｌｏｔｈｏｉｄ 曲线的Ｃ２ 连续性，优化机器人各关节的运动性能，最终改善了机器人的运动特性。
In order to make the robot have good motion characteristics, this paper uses the Clothoid curve to generate the trajectories of the joints of the robot from the trajectory planning of the robot. This method uses the C2 continuity of the Clothoid curve to optimize the kinematic performance of the robot joints and finally improves the robot’s Movement characteristics.