机器人的三种规则曲线插补算法

Interpolation of Three Regular Curves for Robot

针对机器人末端执行器在笛卡尔空间中的轨迹规划方法,研究了空间直线、平面圆弧、空间圆弧等三种基本规则曲线的插补算法。此算法在理论上可使所有插补点均落在所要求的曲线上,算法精简且无累积误差。研究成果已在实际机器人中得到实现。

Precise trajectory planning is needed during modem industry robot work. Based on the method of trajectory planning in Cartesian space for robot＇ s end-effeetor, in this paper, the interpolation of three regular curves, including the line and arc in plane or in space, is proposed. This method can make all interpolated points faU on the curve accurately through the algorithm theoretically with little error. The result has been applied to a practical robot.