在工业机器人的研究和设计过程中,运动学系统的关键技术，如运动学方程的正解、运动学方程的反解、运动轨迹规划算法，在国内外一直处于研讨之中。本文对时间最优的机器人运动轨迹做了深入研究，应用B样条曲线拟合机器人轨迹。并以MOTOMAN-HP3为实验平台设计出一种集通信、运动学计算、轨迹规划、三维动态仿真为一体的机器人控制系统。 论文首先介绍了MOTOMAN-HP3机器人系统的组成，在该机器人结构分析和参数分析的基础上，采用D-H方法建立了其运动学模型，根据变换方程推导出HP3型机器人正运动学方程，并提出只需要一次矩阵逆乘的逆运动学求解算法。 其次详细分析了机器人轨迹规划的一般性问题，提出了以时间最优为机器人轨迹优化目标，应用B样条曲线构造机器人轨迹，建立其优化模型；并利用MATLAB进行HP3机器人运动仿真和轨迹规划实例仿真，仿真结果能够以三维图直观形象地反馈到屏幕上，可以快速准确地对机器人运动进行分析；且对机器人各关节和末端执行器的位移、角速度和角加速度进行了曲线仿真。 再次，论文应用VC++构建了MOTOMAN机器人控制系统平台，通过Ethernet方式建立了机器人控制柜NX100和主控计算机间的通信，实现机器人正逆运动学求解、轨迹规划以及调用仿真模块ROSTY模拟机器人实际工作状态的三维动态仿真功能。 最后，通过机器人搬运任务和书写字母实验进行了验证。利用三维动态仿真，模拟整个作业完成情况，图形显示运行轨迹，检查发生碰撞的可能性及机器人运动轨迹是否合理，利用通信接口传输文件，在实际运行中发现程序存在误差时，随时调整、完善程序。验证了所开发的控制系统可以计算出机器人的最优轨迹并实时控制机器人的运行。 此外论文还在此基础上开发了机器人书写北京奥运会会徽程序及书写中国篆字体对联程序。

In the research and design process of industrial robots, the key technologies of the kinematic system has been in discussions at home and abroad, such as the Positive Solutions of kinematics equations, the kinematics equation of anti-solution trajectory planning algorithm. In this paper, the optimal time of the robot trajectories is studied deeply. The B-spine curve of the robot trajectory are designed in this paper, and a whole control system based on MOTOMAN-HP3 experimental platform is designed, the system contains a set of communication, arithmetic of kinematics, the trajectory planning and three-dimensional dynamic simulation of the robot. Firstly, the structure of the MOTOMAN-HP3 robot system is introduced. On the basis of the robot structural analysis and parametric analysis, by using the D-H method, kinematics model is established, according to this transformation equation, the HP3 robot kinematics equations is derived, and the inverse solution algorithm of one-time inverse matrix is derived accordingly. Secondly, the general robot path planning problem is analyzed in detail. And hence a time optimal trajectory for robot optimization objectives is proposed. The robot trajectory is constructed by using B-spine curve, and also its optimization model is established. The Robot simulation and trajectory planning simulation are made by using MATLAB. The simulation results of three-dimensional map can be shown on the screen visually, and it can be quickly and accurately used to analyze the movement of the robot, and simulate as a curve for the robot joints, the end of the actuator displacement, angular velocity and angular acceleration. Thirdly, VC ++ is used to build a robot control system based on MOTOMAN control platform. Ethernet established the communication between the NX100 robot control cabinet and the computers. All these are used to realize three-dimensional dynamic simulation of the robot inverse kinematics, trajectory planning and simulation module called ROSTY Simulation of actual working robot. Finally, the experiment of the robot handling tasks and to write letters "MOT" verified the solution. The three-dimensional graphics are designed to simulate the entire operation; the graphic displays the track of movement, to check the possibility of collision and the robot trajectory is reasonable or not. In the actual operation, if errors were found at any time, it will be adjusted and improved by this system. It verified that this robot control system can calculate the optimal trajectory of the robot and also the real-time control of the robot. Besides, the robot to write procedures for the Beijing Olympic Games emblem and write Chinese couplets procedures Fragrance fonts are developed in this paper.