Study on Key Techniques of Automatic Pruning of Spherical Shrubs
Most spatial spherical interpolation algorithms of robot are composed of multi-segment circular interpolation.Aiming at the problems of large and complex calculation of circular interpolation,a new spatial circular interpolation algorithm based on equal chord sampling is proposed.The algorithm uses the mapping relationship between arc length and chord length to obtain the coordinates of interpolation points on the arc by equal chord length.According to the calculation,the interpolation points are all on the arc,which eliminates the accumulative error of interpolation and improves the accuracy of arc interpolation.Compared with other spatial arc interpolation algorithms,the calculation time is greatly reduced,and the spatial arc interpolation points are verified by simulation.The correctness of the interpolation algorithm is verified by prototype experiment.This new spatial algo-rithm is applied to spherical interpolation in more complex space,the coordinates of spherical interpolation points are solved and simulated,and the terminal posture of robot in spherical interpolation is solved.The robot is modeled by MATLAB and the spheri-cal interpolation process is simulated,which verifies the effectiveness and feasibility of the algorithm.The simulation of spherical interpolation of different sizes is realized.
NETL
NSTL
万方数据
维普
