目的 为了提高包装生产效率，提升直角坐标机器人的稳定性、可靠性和运动精度，避免机器人出现速度、加速度突变，对机器人运动轨迹进行规划。方法 首先分析直角坐标机器人的工作原理，在此基础上采用三次均匀 B 样条曲线对机器人关节轨迹进行逼近，给出一种基于改进遗传算法的最优时间 B 样条轨迹规划方法。根据功能需求，设计一种基于 ARM 和 FPGA 的控制系统。结果 仿真结果表明，机器人各个关节抵达节点的用时最短，运行耗时能够缩减 39%以上，验证了算法的有效性。结论 所述控制系统和方法能够满足包装码垛的要求，可提高包装效率。

The work aims to improve the production efficiency of package, elevate the stability, reliability and motion precision of the Cartesian coordinate robot, and plan the motion trajectory of the robot to avoid the sudden change of the robot's speed and acceleration. Firstly, the working principle of the Cartesian coordinate robot was analyzed. On the basis of this, cubic uniform B-spline curve was used to achieve the robot joint trajectory approximation. An optimal time B-spline trajectory planning method based on improved genetic algorithm was given. According to functional requirements, a control system based on ARM and FPGA was designed. The simulation results showed that, the robot joints reached the node with the shortest time, and the operation time could be reduced by 39%, and the effectiveness of the algorithm was verified. The proposed control system and method can meet the requirements of packaging and stacking, which can improve packaging efficiency.