IRB140型工业机器人连续轨迹控制的汉字绘制  

Drawing chinese character based on continuous path control of IRB140 industrial robot

作　　者：宫晓博[1] 王建平[1] 

机构地区：[1]中国科学技术大学精密机械与精密仪器系,合肥230027

出　　处：《现代制造工程》2010年第2期135-137,共3页Modern Manufacturing Engineering

摘　　要：编程实现Windows平台下TTF字库轮廓信息的提取;以机器人工作面为平面的情况出发,讨论位置插补,结合样条曲线的参数向量方程,利用等弦长的原理,给出插补算法;对于给定球面,进行姿态插补,结合三维坐标系的旋转变换,给出球面任一点的姿态参数;得出机器人绘制汉字的结果。Firstly designs a program to extract outline information of TTF under the Windows platform. Then beginning with two- dimensional situation, discusses the location interpolation and combined with the vector equation of spline curve, proposes the in- terpolation algorithm by the principles of same chord length. Secondly, for a given sphere, on which the posture interpolation is needed, calculates posture parameters of arbitrary point on the spherical surface by the rotation transformation of three-dimensional coordinate system. Finally, the robot comes to draw the results of Chinese characters.

关 键 词：工业机器人 汉字 轮廓 样条插补 姿态 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]