Robot NURBS track interpolation method

A robot and trajectory technology, applied in the direction of instruments, digital control, control/regulation systems, etc., can solve the problems of large amount of calculation, difficult speed control, no analytical expression, etc., and achieve the advantages of convenient use, rapid response, and improved calculation efficiency Effect

Active Publication Date: 2021-01-26
NANJING LI HANG IND INST OF BIONIC TECH LTD
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

NURBS interpolation uses the NURBS curve as the trajectory to interpolate it. Since the parameters of the NURBS curve have no obvious geometric meaning, and there is no analytical expression for the calculation of the arc length, the calculation amount is large and the speed is difficult to control during NURBS interpolation.

Method used

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  • Robot NURBS track interpolation method
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  • Robot NURBS track interpolation method

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Embodiment Construction

[0045] In order to make the object, technical solution and advantages of the present invention clearer, the following in conjunction with the attached Figure 1-6 And embodiment, the present invention is described in further detail. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0046] Such as figure 1 Shown, a kind of robot NURBS trajectory interpolation method comprises the following steps:

[0047] Step 1) select a plurality of data points on the free-form surface, utilize robot, obtain the three-dimensional coordinates and the rotation vector of all data points that need to pass through on the free-form surface;

[0048] Step 2) use the cubic B-spline curve to ...

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Abstract

The invention discloses a robot NURBS track interpolation method. The method comprises the following steps: 1) obtaining three-dimensional coordinates and a rotation vector of a data point by using arobot; 2) fitting the data points by utilizing a cubic B spline curve to generate a track c (u); 3) sampling the parameter c (u) to obtain an arc length parameter corresponding to discrete point calculation; 4) generating a u-s model by utilizing quintic polynomial fitting; 5) performing T-shaped speed planning on the tool path to obtain an arc length parameter of an interpolation point; 6) obtaining discrete points corresponding to the B spline track according to the u-s model; and 7) performing quaternion spherical interpolation between two adjacent rotation vectors in sequence by utilizingthe arc length parameter to obtain a rotation vector corresponding to the B spline curve discrete point. The G2 continuous speed and acceleration of the cubic B-spline track are continuous; the u ands mapping relationship is established to improve the real-time interpolation calculation efficiency; and the T-shaped speed planning response is quick, simple and controlled.

Description

technical field [0001] The invention relates to the technical fields of computer-aided manufacturing and robot processing, and more specifically, relates to a robot NURBS trajectory interpolation method. Background technique [0002] The machining accuracy of the robot is closely related to the acceleration and deceleration motion control and interpolation algorithm. At present, the trajectory of robot processing is usually expressed by small line segments. The trajectory represented by small line segments has a large number of shortcomings, such as frequent acceleration and deceleration of the system, which reduces the processing accuracy and surface quality of parts. Aiming at the defects of robot trajectory represented by small line segment, NURBS curve is applied in robot trajectory fitting. [0003] Traditional robot systems only have linear interpolation and circular interpolation functions, and do not support direct interpolation of NURBS curves. NURBS interpolation...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/4103
CPCG05B19/4103G05B2219/34148
Inventor 段晋军戴振东闵康杨祥利赵宾峰
Owner NANJING LI HANG IND INST OF BIONIC TECH LTD
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