目的 为了实现多轴码垛机器人速度和加速度变化曲线光滑、稳定，简化轨迹规划算法。方法 介绍码垛机器人结构，并在码垛机器人结构基础上对码垛机器人运动进行分析，在关节空间下提出一种五次多项式插值的码垛机器人轨迹规划方法，利用五次函数对码垛机器人各个关节速度和加速度进行拟合插值。结果 仿真结果表明，五次多项式轨迹规划方法拟合曲线更加光滑，同时保证速度和加速度无突变，保证了码垛机器人运动过程更加平稳。结论 该轨迹规划方法能够保证码垛机器人按照预定的轨迹实现速度和加速度的平滑过渡，提升了码垛机器人运动精度。

The work aims to realize the smooth and stable speed and acceleration change curves of multi-axis palletizing robots, and simplify the trajectory planning algorithm. Firstly, the structure of palletizing robot was introduced. Based on the structure of palletizing robot, the motion of palletizing robot was analyzed, and a palletizing robot trajectory planning method with a quintic polynomial interpolation in joint space was proposed. The quintic function was used for the interpolation fitting of each joint speed and acceleration of the palletizing robot. The simulation results showed that, the curve fitted by the quintic polynomial trajectory planning method was smoother and such method ensured no sudden change in the speed and acceleration, which assured that the motion process of the palletizing robot was more stable and smoother. Such trajectory planning method can ensure that the palletizing robot achieves the smooth transition of the speed and acceleration according to the predetermined trajectory, and it has improved the motion accuracy of the palletizing robot.