Manipulator trajectory planning based on the cubic triangular Bezier spline

The cubic triangular Bezier spline (CTBS) inherits the advantages of Bezier curves and trigonometric function, with the second and the third derivative being continuous. Planning manipulator trajectory with CTBS, we can easily interpolate data points. Consequently, manipulator joint space can be achieved continuous displacement, continuous angular velocity, continuous angular acceleration, and good smoothness, leading to a smooth and continuous manipulator movements. This method approved to be feasible by the experimental results, meets the requirements of the manipulator.