Cartesian Spatial Attitude Trajectory Planning for Four-degree-of-freedom Parallel Robots Based on Industrial Internet

In this paper, an approximate trapezoidal velocity interpolation algorithm using cycloid transition in joint space is proposed in Cartesian space of industrial Internet 4-DOF parallel robot, which makes the joint angular displacement, angular velocity, angular acceleration and angular acceleration of industrial Internet 4-DOF parallel robot have continuity, It overcomes the shortcomings of complex curve construction, discontinuous angular acceleration and angular acceleration in the traditional joint space trajectory planning algorithm, and is conducive to reducing the vibration and impact of the parallel robot. The correctness of the above two planning algorithms is verified through Matlab simulation and prototype experiments.