OPENTECHNICAL PUBLICATION
OT-2026-000001604

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

Published: 2026-09-15T19:06:57.080656Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001604
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000001604
Published 2026-09-15T19:06:57.080656Z
https://opentechnical.org/p/OT-2026-000001604