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

doi:10.16182/j.issn1004731x.joss.201804035

Abstract

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

CLC Number:

TP242.2

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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