基于新S型速度规划的B样条曲线算法研究

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。

B spline Curve Algorithm Research Based on New S Velocity Planning

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 .