High-Precision Robotic Trajectory Planning for Complex Curves with Dual Constraints on Position and Orientation

Machining components with complex surfaces presents significant challenges to maintaining the motion accuracy of industrial robots. In particular, extreme curvatures often accompany large variations in path orientation, which pose obstacles to high-precision trajectory planning. To address this issue, this paper proposes a high-precision trajectory planning framework for robotic machining that incorporates orientation errors and angular velocity constraints. First, a path generation strategy is introduced by embedding angular increment constraints within a chord height error-based method, ensuring concurrent accuracy in both position and orientation. For trajectory planning, translational and rotational constraints arising from centrifugal forces and torques are integrated to ensure stability during rapid and significant orientation changes. Comparative simulations and experimental results validate the effectiveness of the proposed method, demonstrating a synchronized reduction in position and orientation errors. The maximum pose error in path planning is reduced by 74%, while robotic trajectory accuracy is enhanced by 62%.