直角坐标机器人轨迹自适应NURBS曲线插补算法

Adaptive NURBS Curve Interpolation Algorithm for Cartesian Coordinate Robot Trajectory

为了提升直角坐标机器人轨迹的分段精度,提出了一种直角坐标机器人轨迹自适应分段NURBS曲线插补算法。基于NURBSS曲线自适应速度调整原理,通过加减速区域分析和分段预处理,找出曲线上的曲率极大值,分辨这些点是否为速度敏感点,并通过前瞻处理,逆向插补每个速度敏感点,规划敏感区的进给速度,使各个轴的加减速限制与弓高误差可同时得到满足,并确定减速点位置,实时插补处理根据进给速度与当前插补点的位置,计算下一插补点的位置,实现实时插补。实验表明:该算法具有较高的分段精度与分段效率;可满足分段加减速的要求;速度波动率最低且始终在给定的速度范围内,能够良好地控制进给速度;前瞻处理后插补速度减速效果较好;插补计算耗时仅为0.6/ms。

In order to improve the segmentation accuracy of Cartesian coordinate robot trajectory,an adaptive segmented NURBS curve interpolation algorithm for Cartesian coordinate robot trajectory is proposed.Based on the NURBSS curve adaptive speed adjustment principle,through the acceleration and deceleration area analysis and segmented preprocessing,find the maximum curvature on the curve,distinguish whether these points are speed sensitive points,and through forward-looking processing,reverse interpolation of each speed sensitive point,plan the feed speed in the sensitive area,so that the acceleration and deceleration limits of each axis and the bow height error can be met at the same time,and determine the deceleration point position,real-time interpolation processing according to the feed speed and the current interpolation point position,calculate the next The position of an interpolation point realizes real-time interpolation.Experiments show that the algorithm has high segmentation accuracy and segmentation efficiency;it can meet the requirements of segmented acceleration and deceleration;the speed fluctuation rate is the lowest and always within a given speed range,and it can control the feed speed well;forward-looking processing The post-interpolation speed deceleration effect is better;the interpolation calculation time is only 0.6/ms.