Generalization generation method of industrial robot pose trajectories supporting changeable operation path points

A generalization generation method of industrial robot pose trajectories supporting changeable operation path points, comprising the following steps:

• S1:
• acquiring a plurality of groups of robot end pose trajectories;
• S2:
• aligning time steps of the plurality of groups of robot end pose trajectories to obtain an alignment set of the robot end pose trajectories;
• S3:
• according to the alignment set of the robot end pose trajectories, constructing a Gaussian mixture model of robot pose trajectories in combination with a variational Bayesian method and an attitude quaternion tangent space mapping method;
• S4:
• according to the Gaussian mixture model of the robot pose trajectories, obtaining reference pose trajectory distribution after calculation in combination with a method of parallel transferring of attitude quaternion covariance in a tangent space and a Gaussian mixture regression method;
• S5:
• performing optimal kernelized representation on the reference pose trajectory distribution to obtain an optimal hyperparameter of a kernel function;
• and
• S6:
• updating the reference pose trajectory distribution according to operation path points of a robot, and generating robot end pose trajectories adapted to the operation path points after performing kernelized representation on a current reference pose trajectory distribution according to the optimal hyperparameter of the kernel function.