Research on Trajectory Planning for multiple straight lines in Cartesian Space

This paper investigates the problem of trajectory planning with multiple path points in Cartesian space. Compared to the parabolic fitting algorithm for multiple path points in joint space (MPJS), this paper extents it to the Cartesian space (MLCS). The key to MLCS is that the fitting time of each Cartesian coordinate should be consistent, and thus the planned trajectory could have a high degree of trajectory coincidence. On this account, we propose an improved algorithm about the MLCS (improved MLCS). The feasibility and effectiveness of the algorithm is verified by simulation.