工业机器人实时NURBS插补的仿真和实验研究

doi:10.16182/j.issn1004731x.joss.201804035

系统仿真学报 ›› 2018, Vol. 30 ›› Issue (4): 1496-1504.doi: 10.16182/j.issn1004731x.joss.201804035

工业机器人实时NURBS插补的仿真和实验研究

张铁, 龚文涛, 邹焱飚

华南理工大学机械与汽车工程学院,广州 510641

收稿日期:2016-05-24 修回日期:2016-06-26 出版日期:2018-04-08 发布日期:2019-01-04
作者简介:张铁(1968-),男,湖南长沙,博士,教授,研究方向为工业机器人技术及应用。
基金资助:
国家04科技重大专项(20152X04005006),广东省科技计划(2014B090921004, 2015B010918002),广州市科技重大专项(201604040009)

Simulation and Experimental Research on Real-time NURBS Interpolator for Industrial Robot

Zhang Tie, Gong Wentao, Zou Yanbiao

School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, China

Received:2016-05-24 Revised:2016-06-26 Online:2018-04-08 Published:2019-01-04

摘要/Abstract

摘要： 给出了一种六轴工业机器人的NURBS（Non Uniform Rational B-Spline）路径实时前瞻插补方法。算法主要包含两个部分：NURBS曲线全局插值和前瞻速度规划方法。建立基于参数u和速度v的NURBS曲线参数方程,根据若干个示教点全局插值得到平滑的NURBS曲线。根据弓高误差和向心加速度的速度约束方程式,对NURBS曲线进行前瞻速度规划和插补。构建实时机器人控制平台,对前瞻规划和梯形加减速两种机器人末端进给速度规划方法进行了比较,通过仿真和实验,前瞻规划插补方法的速度更平稳,关节角速度和角加速度突变大幅减小,该方法能较好地适用于六轴机器人的实时NURBS曲线插补中。

关键词: NURBS, 曲线参数方程, 前瞻, 梯形加减速, 插补

Abstract: A real-time non uniform rational B-spline (NURBS) path interpolator with look-ahead algorithm for six-axis industrial robot is investigated. The algorithm consists of two modules: the global interpolation of the NURBS, and the look-ahead interpolator. The parametric equation of NURBS is built based on the parameter u and v, and the smooth NURBS curve is achieved from several teaching points. The velocity constraint equations are introduced initially based on chord error and centripetal acceleration, and the look-ahead velocity plan and the interpolator are investigated. The current strategy is compared with the trapezoidal acceleration and deceleration interpolator in a real-time controller for industrial robot. The simulation and experiment results show that the strategy with look-ahead algorithm interpolator leads to steadier speed; and the sudden change of joint velocity and joint acceleration are decreased to a great degree. It is proved that this strategy is effective to be used in the real-time NURBS interpolation of the six-axis robots.

Key words: NURBS, parametric equation, look-ahead, trapezoidal acceleration and deceleration, interpolation

中图分类号:

TP242.2

张铁, 龚文涛, 邹焱飚. 工业机器人实时NURBS插补的仿真和实验研究[J]. 系统仿真学报, 2018, 30(4): 1496-1504.

Zhang Tie, Gong Wentao, Zou Yanbiao. Simulation and Experimental Research on Real-time NURBS Interpolator for Industrial Robot[J]. Journal of System Simulation, 2018, 30(4): 1496-1504.

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工业机器人实时NURBS插补的仿真和实验研究

Simulation and Experimental Research on Real-time NURBS Interpolator for Industrial Robot

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