数控摆线插补算法探讨

基于数学积分原理提出了摆线廓形变步长插补的基本思想 ,导出带有刀具半径补偿的摆线廓形插补算法 ,解决了插补精度与进给速度之间的矛盾。

混合位置伺服系统的研究

将混合位置闭环系统应用于高速精密激光内雕机中 ,大大提高了系统的响应性 ,减少了系统的稳态误差。文章分析了该系统的稳定性及产生的跟随误差。最后 ,简述了实现两轴联动的数字积分法—DDA直线插补算法。

NURBS CURVE INTERPOLATOR WITH ADAPTIVE ACCELERATION-DECELERATION CONTROL

The feedrate profile of non-uniform rational B-spline （NURBS） interpolation due to the contour errors is analyzed. A NURBS curve interpolator with adaptive acceleration-deceleration control is presented. In interpo- lation preprocessing, the sensitive zones of feedrate variations are processed with acceleration-deceleration control. By using the proposed algorithm, the machining accuracy is guaranteed and the feedrate is adaptively adjusted to he smoothed. The mechanical shock imposed in the servo system is avoided by the first and the second time derivatives of feedrates. A simulation of NURBS interpolation is given to demonstrate the validity and the effectiveness of the algorithm. The proposed interpolator can also be applied to the trajectory planning of the other parametric curves.

Realization of orientation interpolation of 6-axis articulated robot using quaternion

In general, the orientation interpolation of industrial robots has been done based on Euler angle system which can result in singular point （so-called Gimbal Lock）. However, quaternion interpolation has the advantage of natural （specifically smooth） orientation interpolation without Gimbal Lock. This work presents the application of quatemion interpolation, specifically Spherical Linear IntERPolation （SLERP）, to the orientation control of the 6-axis articulated robot （RS2） using LabVIEW and RecurDyn. For the comparison of SLERP with linear Euler interpolation in the view of smooth movement （profile） of joint angles （torques）, the two methods are dynamically simulated on RS2 by using both LabVIEW and RecurDyn. Finally, our original work, specifically the implementation of SLERP and linear Euler interpolation on the actual robot, i.e. RS2, is done using LabVIEW motion control tool kit. The SLERP orientation control is shown to be effective in terms of smooth joint motion and torque when compared to a conventional （linear） Euler interpolation.

Optimizing the Layout of Rectangular Hull Tiles

Rectangular tiles can be laid on a ship's hull for protection, but the sides of the tiles must be adjusted so adjacent tiles will conform to the curvature of the hull.A method for laying tiles along a reference line was proposed, and an allowable range of displacement for the four vertices of the tile was determined.Deformations of each tile on a specific reference line were then obtained.It was found that the least deformation was required when the tiles were laid parallel to a line with the least curvature.After calculating the mean curvature on the surface, the surface was divided into three layout areas.A set of discrete points following the least deformation of the principal curvatures was obtained.A NURBS interpolation curve was then plotted as the reference line for laying tiles.The optimum size of the tiles was obtained, given the allowable maximum deformation condition.This minimized the number of bolts and the amount of stuffing.A typical aft hull section was selected and divided into three layout areas based on the distribution of curvature.The optimum sizes of rectangular tiles were obtained for every layout area and they were then laid on the surface.In this way the layout of the rectangular tiles could be plotted.

插补与误差分析

从提高插补精度的目的出发,对扩展DDA插补原理及误差进行了理论分析,针对提高插补运算精度提出的几顶措施编制了相应的插补软件,有效地提高了插补精度。

Research on NC interpolation Algorithm based on STM32

This paper analyzes the principle of spline interpolation, pointed out the reasons for the feed rate fluctuations and proposed interpolation algorithm based on the secant iteration method NURBS curve. The algorithm of the speed the planning section uses cubic polynomial acceleration and deceleration control methods to ensure the acceleration of the process of continuous high-speed operation, so that the machine runs smoothly, avoiding the machine have a big impact; while parameter calculation part using the Secant iterative interpolation method to calculate parameter, reducing the speed fluctuation, the machine is further reduced tremor. Simulation results show that the algorithm can obtain a continuous velocity and acceleration curves, and can be controlled in real time interpolation velocity fluctuations in the ideal range, the machine achieve the smooth running ,and meet the high-speed, high quality processing requirements.

Improved Location Algorithm of VIRE Based on RFID

Using linear interpolation method, VIRE algorithm simply treats the signal strength value and distance of the reference tag as a linear relationship, leading to the inaccuracy of signal strength value for virtual reference tags. The threshold in VIRE algorithm is a fixed value that needs repeatedly adjustment through experiments, which results in the complicated algorithm. To solve these problems, an improved algorithm is proposed in this paper, including nonlinear interpolation algorithm, dynamic threshold setting and tag self-correction of fuzzy map, which builds an indoor positioning system based on reference tags. The experimental results show that the improved algorithm can improve the positioning accuracy and improve the stability of positioning results under bad environmental conditions without increasing the number of reference tags.

Simultaneous Identification of Two Parameters on the Reaction Diffusion System from Discrete Measurement Data

This article deals with an inverse problem of reconstructing two time independent coefficients in the reaction diffusion system from the final time space discretized measurement using the optimization method with the help of the smooth interpolation technique.The main objective of the article is to analyse the asymptotic behavior of the solution of the inverse problem for the linearly coupled reaction diffusion system with respect to the homogeneous Dirichlet boundary condition.