【摘要】 给出了一种六轴弧焊机器人的实时NURBS路径插补方法.使用开放式机器人控制器系统作为试验平台,NURBS曲线通过迭代最近点的拟合方法获得.阐述了NURBS路径插补器的末端速度控制原理,对常见的机器人末端运动速度为梯形分布时的情况进行了讨论.最后举例论证了该方法的可行性,并将其与通常使用的点到点逼近的方法做比较,充分体现了该方法的优越性.更多还原

【Abstract】 This paper implements a real-time NURBS(Non-Uniform Rational B-Spline) path interpolator for a six-axis arc welding robot.An open architecture robot controller is used as the testbed.The NURBS curve is calculated with an ICP(Iterated Closest Point)-based fitting algorithm.The reason that the end-effector velocity can be controlled in this motion interpolator is analyzed,and the situation is discussed when the velocity profile is a trapezoid which is commonly used in the end-effector movement.Finally,an example is given to prove the applicability of this method.After comparing with the commonly used point-to-point approximation technique,it can be observed that this mothod has great advantages.更多还原