Research on mechanical arms trajectory-planning using different order B-splines

In order to ensure the smoothness of joint motion and the accurateness of the target position estimate, B-spline has been widely used in joint trajectory planning for mechanical arms. In this paper, the base functions of the third order, fifth order, and seventh order of uniform B-splines are given. Comparison between piecewise polynomial and B-splines on trajectory planning is presented to show the differences in computational complexity. The trajectories planned in using three different order B-splines are shown and discussed. Detailed analysis of the planning with virtual points is described in this paper.