信息与控制2017，Vol.46Issue(2)：129-135,7.DOI:10.13976/j.cnki.xk.2017.0129
工业机器人NURBS自由曲线的轨迹规划
Trajectory Planning for Industrial Robots for NURBS Free Curve
摘要
Abstract
For industrial robot nonuniform rational B-spline (NURBS) trajectory planning in Cartesian space,we use the sinusoidal acceleration curve speed control and the composite Simpson quadrature formula to calculate the track length of the NURBS curved line.We perform the industrial robot feed rate control for the NURBS curve with constraints of maximum contour error and maximum acceleration.In addition,we use Adams differential equations for NURBS interpolation,and control the acceleration and the jerk of the position and the orientation of the curve during the interpolating process.By several hyper-sphere rotation quaternion descriptions of the robot trajectory attitude and spherical linear interpolation,we provide an efficient solution for trajectory planning.Simulation and verification of a six-joint handling robot control system platform are performed.By detection and comparison of the free curved trajectory interpolation step,real-time chord error,and relative deviation,the feasibility and effectiveness of the algorithm is confirmed.关键词
工业机器人/非均匀有理B样条(NURBS)/轨迹规划/正弦波加速度曲线/四元数Key words
industrial robot/nonuniform rational B-spline(NURBS)/trajectory planning/sinusoidal acceleration/quaternion分类
信息技术与安全科学引用本文复制引用
李宏胜,汪允鹤,张伟,施昕昕..工业机器人NURBS自由曲线的轨迹规划[J].信息与控制,2017,46(2):129-135,7.基金项目
江苏省科技支撑计划资助项目(BE2014025) （BE2014025）
