Motion trajectory planning method and apparatus based on s-curve velocity profile

A method for planning a motion trajectory based on an S-curve velocity profile, comprising:

• determining a motion path of a robot from a starting point to an end point;
• if the motion path is not a straight line path from the starting point to the end point and there is any target point which is a point outside a straight line between the starting point and the end point, determining coordinates of a first intermediate point and a second intermediate point which are sequentially passed by based on a starting point location coordinate, a target point location coordinate, an end point location coordinate and a preset turning radius;
• detecting whether an initial velocity vs of the robot at the starting point is less than a current maximum preset velocity Vsm;
• and
• planning a duration of an acceleration section of the motion trajectory for a straight line path from the starting point to the first intermediate point, so that a maximum planned velocity obtained after the acceleration section ends is less than or equal to the current maximum preset velocity Vsm, if the initial velocity vs is less than the current maximum preset velocity Vsm.