基于开放式机器人控制器的NURBS路径插补方法的实现  

Realization of NURBS Path Interpolator Based on an Open Architecture Robot Controller

作　　者：何广忠[1] 张连新[1] 高洪明[1] 吴林[1] 

机构地区：[1]哈尔滨工业大学现代焊接生产技术国家重点实验室,黑龙江哈尔滨150001

出　　处：《机器人》2006年第2期120-124,共5页Robot

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.This paper implements a real-tlme NURBS （ Non-Uniform Rational B-SpUne） 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-effeetor 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-effect, or 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.

关 键 词：NURBS 插补器 机器人控制器 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]