{
  "abstract": "Provided is a generalization generation method of industrial robot pose trajectories supporting changeable operation path points, which relates to the field of robot trajectory planning. The method includes: acquiring a plurality of groups of robot end pose trajectories; aligning time steps of the pose trajectories via a multi-dimensional dynamic time warping algorithm; constructing a Gaussian mixture model of robot pose trajectories in combination with a variational Bayesian method and an attitude quaternion tangent space mapping method; calculating reference pose trajectory distribution via a Gaussian mixture regression method; performing kernelized representation on pose trajectory distribution, and solving an optimal hyperparameter of a kernel function by minimizing a root mean square error of a reproduced reference trajectory; and generating the robot end pose trajectories adapted to the operation path points by updating the reference pose trajectory distribution.",
  "assignees": [
    "UNIV ZHEJIANG"
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  "authors": [
    "LIU ZHENYU",
    "Luo Jingqian",
    "Min Chenyang",
    "QIU CHAN",
    "SA GUODONG",
    "TAN JIANRONG"
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  "source_date": "2026-03-24",
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  "title": "Generalization generation method of industrial robot pose trajectories supporting changeable operation path points",
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