---
publication_id: "OT-2026-000001604"
title: "Generalization generation method of industrial robot pose trajectories supporting changeable operation path points"
published_at: "2026-09-15T19:06:57.080656Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001604"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/163"
  - "b25j9/1664"
  - "b25j9/1664"
  - "b25j9/1664"
  - "b25j9/16"
  - "b25j9/163"
---

# Generalization generation method of industrial robot pose trajectories supporting changeable operation path points

## 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.