| 三次均匀B样条的机器人插补算法 |
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| 引用本文： | 苏世栋,刘鹏飞.三次均匀B样条的机器人插补算法[J].西安工业大学学报,2012(10):817-820,834. |
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| 作者姓名： | 苏世栋 刘鹏飞 |
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| 作者单位： | [1]运城学院物理与电子工程系,运城044000 [2]中国航天科技集团第16研究所,西安710100 |
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| 摘 要： | 为了增强关节式工业机器人加工不规则工件的能力，将三次均匀B样条曲线应用于关节式机器人轨迹插补算法中，使机器人末端以三次B样条的曲线轨迹通过各加工点．在分析了三次均匀B样条曲线特性的基础上，给出了三次均匀B样条曲线的一般表达式．在增加曲线自由端点条件后，使用追赶算法快速反算出控制点．使用预估校正的方法推导出插补算法，该算法能使机器人末端遵循抛物线过渡型的加速一匀速一减速变化规律，给出了预测减速点的方法．对一个类花瓣型的加工对象进行仿真，证明文中方法的可行性．
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| 关 键 词： | 机器人 插补 B样条曲线 抛物线过渡型速度曲线 预估校正 |
A Research on Manipulator Trajectory Interpolation Algorithm Based on Cubic Uniform B-spline Curve |
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| Affiliation: | SU Shi-dong , LIU Peng-f ei (1. Department of Physical Electronic Engineering, Yuncheng University, Yuncheng 044000, China; 2. The 16 th Institute, China Aerospace Science and Technology Corporation, Xi ＇ an 710100, China) |
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| Abstract: | To enhance capability of industry joint robot to machine irregular shape workpiece, the cubic uniform B- spline curve is introduced to manipulator trajectory interpolation. After reviewing characteristics of cubic uniform B-spline curve, the general expressions of such curve are proposed. A chasing method is used to calculate the control points, while conditions of two free endpoints are added to the solutions. A predict-correct method is used to derive the interpolation algorithm, which directs the velocity of end-effecter to follow a parabolic curve-accelerating, uniform and decelerating, and the prediction of deceleration point is presented. A simulation is tested in a flower-shaped workpiece and feasibility of manipulator trajectory interpolation algorithm is verified. |
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| Keywords: | joint robot interpolation B-spline curve parabolic blends speed curve predictor-corrector |
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