Adaptive NURBS Curve Interpolation Algorithm for Cartesian Coordinate Robot Trajectory
In order to improve the segmentation accuracy of Cartesian coordinate robot trajectory,an adaptive segmented NURBS curve interpolation algorithm for Cartesian coordinate robot trajectory is proposed.Based on the NURBSS curve adaptive speed adjustment principle,through the acceleration and deceleration area analysis and segmented preprocessing,find the maxi-mum curvature on the curve,distinguish whether these points are speed sensitive points,and through forward-looking process-ing,reverse interpolation of each speed sensitive point,plan the feed speed in the sensitive area,so that the acceleration and decel-eration limits of each axis and the bow height error can be met at the same time,and determine the deceleration point position,re-al-time interpolation processing according to the feed speed and the current interpolation point position,calculate the next The position of an interpolation point realizes real-time interpolation.Experiments show that the algorithm has high segmentation ac-curacy and segmentation efficiency;it can meet the requirements of segmented acceleration and deceleration;the speed fluctua-tion rate is the lowest and always within a given speed range,and it can control the feed speed well;forward-looking processing The post-interpolation speed deceleration effect is better;the interpolation calculation time is only 0.6/ms.
NETL
NSTL
万方数据
