| 多管相贯线切割运动轨迹与位姿控制方法研究 |
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| 引用本文： | 曹建福,张恒超. 多管相贯线切割运动轨迹与位姿控制方法研究[J]. 工程图学学报, 2010, 31(2) |
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| 作者姓名： | 曹建福 张恒超 |
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| 作者单位： | 西安交通大学自动控制研究所,陕西西安,710049 |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 针对空间多管相贯线的切割问题,基于简化的坡口模型,提出了一种实用的切割运动轨迹与位姿控制方法。用参数化图形方式给出了相贯线的计算模型,建立了由三维模型数据到6轴联动切割运动代码的转换算法。通过现场实际切割,表明该方法可明显提高相贯线的切割效率。
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| 关 键 词： | 计算机应用 管相贯线切割 运动轨迹 割矩位姿 |
Control Method of Motion Track and Torch Posture for Multi-Pipe Intersection Curve Cutting |
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| CAO Jian-fu,ZHANG Heng-chao. Control Method of Motion Track and Torch Posture for Multi-Pipe Intersection Curve Cutting[J]. Journal of Engineering Graphics, 2010, 31(2) |
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| Authors: | CAO Jian-fu ZHANG Heng-chao |
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| Affiliation: | CAO Jian-fu; ZHANG Heng-chao(Institute of Automatic Control; Xi’an Jiaotong University; Xi’an Shaanxi 710049; China); |
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| Abstract: | While dealing with cutting of multi-pipe intersection curve,a practical algorithm of motion track and torch posture is proposed based on a predigesting slope model.Computational models of intersection curve are given with parametric 3D mode,and the conversion method is constructed from 3D model data to 6 axis numerical code.The cutting experiment shows the effectiveness of this method. |
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| Keywords: | computer application pipe intersection curve cutting motion track torch posture |
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