基于新S型速度规划的B样条曲线算法研究 |
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引用本文: | 史步海,孙会会. 基于新S型速度规划的B样条曲线算法研究[J]. 机床与液压, 2016, 44(15): 72-79. DOI: 10.3969/j.issn.1001-3881.2016.15.018 |
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作者姓名: | 史步海 孙会会 |
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作者单位: | 华南理工大学自动化科学与工程学院,广东广州,510641 |
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基金项目: | 广东省科技攻关项目资金资助(2013 B010402008);广东省省级科技项目(2014 B090901042) |
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摘 要: | 为使基于LinuxCNC开放式焊接机器人系统具有精确轨迹运行和加工自由曲线的能力,提出了新型速度控制算法,并基于该新型速度控制算法完成B样条曲线的数学模型及其插补原理分析,提出了3次B样条曲线瞬时速度插补算法,分析了LinuxCNC的Motion层原理,给出了在LinuxCNC系统中实现B样条曲线算法的设计步骤。实验仿真结果表明:B样条插补算法能在LinuxCNC系统中实现自由曲线的轨迹运行,并在预览界面中显示出较好的曲线行走效果。
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关 键 词: | B样条曲线 速度规划 瞬时速度插补 LinuxCNC |
B spline Curve Algorithm Research Based on New S Velocity Planning |
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Abstract: | In order to have the ability of accurate machining of free curve trajectory for open welding robot system based on Linux -CNC, the traditional speed control algorithms were propposed .The B-spline mathematics model and its interpolation principle based on new speed control algorithm were completed and analyzed .Third order B-spline curve instantaneous velocity interpolation algorithm was proposed.The Motion layer principle of LinuxCNC was analyzed , and the degign steps of B-spline curve interpolation algorithm imple-ment in LinuxCNC system were given .The experimental simulation results show that B-spline interpolation algorithm can realize the free curve run in LinuxCNC system , and shows a good curve run effect in the preview screen . |
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Keywords: | B-spline curve Velocity planning Instantaneous velocity interpolation LinuxCNC |
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