Development and implementation of a NURBS curve motion interpolator |
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Authors: | Qiyi G. Zhang R. Bryan Greenway |
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Affiliation: | aFANUC Robotics North America Inc., 3900 W. Hamlin Road, Rochester Hills, MI 48309, USA;bMechanical Engineering Department, University of Kansas, 3013 Learned Hall, Lawrence, KS 66045, USA |
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Abstract: | This paper deals with the issues of development and implementation of a real-time NURBS interpolator for a six-axis robot. Using an open-architecture controller system as a testbed, a real-time NURBS curve interpolator was developed, implemented and tested. Sample runs were conducted with the resulting trajectories measured in real-time during robot motion. The resulting trajectories are analyzed, discussed and compared with those from a commonly used point-to-point approximation technique. The real-time NURBS curve interpolator's feasibility, advantages and related issues are also discussed. |
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Keywords: | Motion control Computer aided design Robots Real time systems Mechanical control equipment Approximation theory Computer integrated manufacturing Trajectory generation Non uniform rational B spline Open architecture control Robot control Point to point approximation technique Motion interpolator |
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