三次均匀B样条的机器人插补算法

A Research on Manipulator Trajectory Interpolation Algorithm Based on Cubic Uniform B-spline Curve

为了增强关节式工业机器人加工不规则工件的能力,将三次均匀B样条曲线应用于关节式机器人轨迹插补算法中,使机器人末端以三次B样条的曲线轨迹通过各加工点.在分析了三次均匀B样条曲线特性的基础上,给出了三次均匀B样条曲线的一般表达式.在增加曲线自由端点条件后,使用追赶算法快速反算出控制点.使用预估校正的方法推导出插补算法,该算法能使机器人末端遵循抛物线过渡型的加速-匀速-减速变化规律,给出了预测减速点的方法.对一个类花瓣型的加工对象进行仿真,证明文中方法的可行性.

To enhance capability of industry joint robot to machine irregular shape workpiece, the cubic uniform B- spline curve is introduced to manipulator trajectory interpolation. After reviewing characteristics of cubic uniform B-spline curve, the general expressions of such curve are proposed. A chasing method is used to calculate the control points, while conditions of two free endpoints are added to the solutions. A predict-correct method is used to derive the interpolation algorithm, which directs the velocity of end-effecter to follow a parabolic curve-accelerating, uniform and decelerating, and the prediction of deceleration point is presented. A simulation is tested in a flower-shaped workpiece and feasibility of manipulator trajectory interpolation algorithm is verified.