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Simulation And Experimental Research On Real-Time Nurbs Interpolator For Industrial Robot, Zhang Tie, Wentao Gong, Yanbiao Zou
Simulation And Experimental Research On Real-Time Nurbs Interpolator For Industrial Robot, Zhang Tie, Wentao Gong, Yanbiao Zou
Journal of System Simulation
Abstract: A real-time non uniform rational B-spline (NURBS) path interpolator with look-ahead algorithm for six-axis industrial robot is investigated. The algorithm consists of two modules: the global interpolation of the NURBS, and the look-ahead interpolator. The parametric equation of NURBS is built based on the parameter u and v, and the smooth NURBS curve is achieved from several teaching points. The velocity constraint equations are introduced initially based on chord error and centripetal acceleration, and the look-ahead velocity plan and the interpolator are investigated. The current strategy is compared with the trapezoidal acceleration and deceleration interpolator in a real-time controller …