High-speed parallel robots are widely used in industrial production lines, such as food industry, pharmaceutical industry, and electronics industry. They are mainly used to complete high-speed sorting, packing, stacking, and assembly. However, the high-speed parallel robots with less degrees of freedom (DOF) cannot meet the complex industrial production requirements. Therefore, the application of 6-DOF high-speed parallel robots is gradually increasing. They have higher requirements for robot motion and hence should be optimized from the aspects of dynamics and trajectory planning to improve the smoothness of motion and inhibit the residual vibration of the robot.^1–3

中文翻译：

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基于B样条曲线的6自由度高速并联机器人轨迹优化

高速并联机器人广泛应用于食品工业、制药工业、电子工业等工业生产线。主要用于完成高速分拣、包装、码垛、组装等工作。然而，低自由度的高速并联机器人无法满足复杂的工业生产要求。因此，六自由度高速并联机器人的应用逐渐增多。它们对机器人运动的要求较高，需要从动力学和轨迹规划等方面进行优化，提高运动的平稳性，抑制机器人的残余振动。^1–3