中文摘要：

将用于数控机床的扩展线位移方法引入到六自由度串联机器人末端运动线速度规划算法中，以提高机器人末端运动线速度控制效率。该算法借鉴数控机床中将刀具实际运动线速度与编程指定速度相互关联的扩展线位移方法思想，将机器人末端运动线速度转换为机器人运动矢量合角速度最终实现机器人末端运动线速度规划。通过搭建的机器人实验平台进行实验，实验结果表明提出的扩展线位移方法在机器人末端沿直线轨迹和圆弧轨迹运动时的实际合角速度与理论推算合角速度基本一致，实际关节角速度与理论关节角速度趋于一致。表明该方法能够有效实现机器人末端线速度轨迹规划。

英文摘要：

To improve the control efficiency of the end of the robot, the extension linear displacement method widely used in multi-axis CNC machining was adopted in the 6R serial robot terminal velocity planning algorithm The algorithm took the idea of the extended linear displacement method into consideration which can be used to make correlation between the actual moving velocity of the cutting tool and the specified programming velocity, and the robot motion vector angular velocity was obtained through transformation from robot terminal velocity to realize the robot terminal motion control. Experiments were performed on the built robot experimental platform, and the results show that in the straight path and circular path of the robot terminal motion, actual vector angular velocity and theoretical angular velocity are basically the same, the actual joint angle speed and the theoretical joint angular velocity tends to be consistent. The results demonstrate the effectiveness of the algorithm in the robot terminal velocity planning.