基于关节运动约束机器人高精度NURBS插补法
A High Precision NURBS Interpolator Based on Joint Kinematic Constrain for Industrial Robot
赵一阳 1刘勋 1徐妍 2曹家彬 1闫维新1
作者信息
- 1. 上海交通大学 机械与动力工程学院,上海 200240
- 2. 东北林业大学 计算机与控制工程学院,哈尔滨 150040
- 折叠
摘要
提出了一种面向工业机器人NURBS曲线的刀尖速度规划及高精度插补算法.基于传统的S速度规划,引入速度约束与时间约束的自适应算法;实现刀尖点运动学约束与关节运动学约束之间的解析映射;构建最大进给率、最大加速度约束预设值,在双向速度扫描中带入修正后的各约束及端点处的速度极值;采用了基于弧长参数化的补偿插补策略,解决累计误差问题;用平面S形路径对算法进行测试,验证了该方法的适用性和准确性.
Abstract
In this paper,a tool tip speed planning and high-precision interpolation algorithm for NURBS curve of industrial robot is proposed.Based on traditional S-shape feed rate scheduling,an adaptive algorithm that introduces speed constraints and time constraints can be applied to robot tool tip feed rate scheduling.Secondly,the analytical mapping between tool tip kinematic constraint and joint kinematic constraint is realized.The maximum feed rate and maximum acceleration constraint preset values are constructed,and the corrected constraints and velocity extreme values at the endpoints are brought into the bidirectional scanning.Compensatory interpolation strategy based on arc length parameterization is used to solve the cumulative error problem.Finally,the algorithm is tested using a flat S-shaped tool path,which verifies the applicability and accuracy of the method.
关键词
进给速度规划/工业机器人/关节运动学约束/NURBS/双向速度扫描Key words
feed rate scheduling/industrial robot/joint kinematic constraint/NURBS/bidirectional scanning引用本文复制引用
出版年
2024
NETL
NSTL
万方数据