| 基于开放式机器人控制器的NURBS路径插补方法的实现 |
| |
| 引用本文： | 何广忠,张连新,高洪明,吴林.基于开放式机器人控制器的NURBS路径插补方法的实现[J].机器人,2006,28(2):120-124. |
| |
| 作者姓名： | 何广忠 张连新 高洪明 吴林 |
| |
| 作者单位： | 哈尔滨工业大学现代焊接生产技术国家重点实验室,黑龙江,哈尔滨,150001 |
| |
| 摘 要： | 给出了一种六轴弧焊机器人的实时NURBS路径插补方法．使用开放式机器人控制器系统作为试验平台，NURBS曲线通过迭代最近点的拟合方法获得．阐述了NURBS路径插补器的末端速度控制原理，对常见的机器人末端运动速度为梯形分布时的情况进行了讨论．最后举例论证了该方法的可行性，并将其与通常使用的点到点逼近的方法做比较，充分体现了该方法的优越性．
|
| 关 键 词： | NURBS 插补器 机器人控制器 |
| 文章编号： | 1002-0446（2006）02-0120-05 |
| 收稿时间： | 2005-04-07 |
| 修稿时间： | 2005-04-07 |
Realization of NURBS Path Interpolator Based on an Open Architecture Robot Controller |
| |
| HE Guang-zhong,ZHANG Lian-xin,GAO Hong-ming,WU Lin.Realization of NURBS Path Interpolator Based on an Open Architecture Robot Controller[J].Robot,2006,28(2):120-124. |
| |
| Authors: | HE Guang-zhong ZHANG Lian-xin GAO Hong-ming WU Lin |
| |
| Affiliation: | State Key Lab of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China |
| |
| Abstract: | This paper implements a real-time NURBS(Non-Uniform Rational B-Spline) path interpolator for a six-axis arc welding robot.An open architecture robot controller is used as the testbed.The NURBS curve is calculated with an ICP(Iterated Closest Point)-based fitting algorithm.The reason that the end-effector velocity can be controlled in this motion interpolator is analyzed,and the situation is discussed when the velocity profile is a trapezoid which is commonly used in the end-effector movement.Finally,an example is given to prove the applicability of this method.After comparing with the commonly used point-to-point approximation technique,it can be observed that this mothod has great advantages. |
| |
| Keywords: | NURBS |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
| 点击此处可从《机器人》浏览原始摘要信息 |
|
点击此处可从《机器人》下载全文 |
