| IRB140型工业机器人连续轨迹控制的汉字绘制 |
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| 引用本文： | 宫晓博,王建平. IRB140型工业机器人连续轨迹控制的汉字绘制[J]. 现代制造工程, 2010, 0(2) |
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| 作者姓名： | 宫晓博 王建平 |
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| 作者单位： | 中国科学技术大学精密机械与精密仪器系,合肥,230027 |
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| 摘 要： | 编程实现Windows平台下TTF字库轮廓信息的提取;以机器人工作面为平面的情况出发,讨论位置插补,结合样条曲线的参数向量方程,利用等弦长的原理,给出插补算法;对于给定球面,进行姿态插补,结合三维坐标系的旋转变换,给出球面任一点的姿态参数;得出机器人绘制汉字的结果。
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| 关 键 词： | 工业机器人 汉字 轮廓 样条插补 姿态 |
Drawing chinese character based on continuous path control of IRB140 industrial robot |
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| GONG Xiao-bo,WANG Jian-ping. Drawing chinese character based on continuous path control of IRB140 industrial robot[J]. Modern Manufacturing Engineering, 2010, 0(2) |
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| Authors: | GONG Xiao-bo WANG Jian-ping |
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| Affiliation: | GONG Xiao-bo,WANG Jian-ping(Department of Precision Machinery , Precision Instrumentation,University of Science , Technology of China,Hefei 230027,China) |
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| Abstract: | Firstly designs a program to extract outline information of TTF under the Windows platform.Then beginning with two-dimensional situation,discusses the location interpolation and combined with the vector equation of spline curve,proposes the interpolation algorithm by the principles of same chord length.Secondly,for a given sphere,on which the posture interpolation is needed,calculates posture parameters of arbitrary point on the spherical surface by the rotation transformation of three-dimensional coordinat... |
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| Keywords: | industrial robot chinese character outline splice interpolation posture |
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