摘要
针对空间相贯曲线轨迹控制的复杂性和特殊性,研究一种新型空间相贯曲线插补算法.通过建立相贯曲线的数学模型,提出了由直线轴和旋转轴组成的非笛卡尔坐标中的相贯曲线轨迹直接插补和速度控制算法,并对算法进行仿真.仿真结果表明,所提出的相贯曲线轨迹插补算法具有较高的轨迹控制精度和速度稳定性,具有良好的应用前景.
The trajectory control of spatial intersected curve has great complexity and particularity. To solve this problem, a new trajectory interpolation algorithm of spatial intersected curve is proposed in this paper. Through building the mathematical model of the curve, a direct interpolation and speed control algorithm is developed in a non-cartesian coordinate system with linear axis and rotation axis. The simulation results show that the algorithm has high trajectory precision and speed stability with well application prospects.
出处
《计算机系统应用》
2013年第4期116-120,共5页
Computer Systems & Applications
基金
国家高技术研究发展计划(863)(2012AA041307)
山东大学自主创新基金(2011JC013)
关键词
空间相贯曲线
插补算法
运动控制器
速度稳定
计算机控制系统
spatial intersected curve
interpolation algorithm
motion controller
speed stability
computer control system
