三次均匀有理B样条曲线插补算法的研究  

The study of cubic uniform rational B-spline interpolation algorithm

作　　者：陈伟华[1] 张铁[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广州510640

出　　处：《机械设计与制造》2010年第8期3-5,共3页Machinery Design & Manufacture

基　　金：国家863高技术计划重点项目资助

摘　　要：插补算法是机器人系统实现运动控制的核心模块,对三次均匀有理B样条曲线的插补算法进行了研究。基于三次非均匀有理B样条曲线(NURBS),得出三次均匀有理B样条曲线的表达式。反算B样条曲线的控制顶点中发现规律,采用一种简单快捷的方法求取控制顶点,这使插补算法计算简单,更易于计算机编程。并且在算法中考虑到运动控制加减速的问题,这使插补算法符合实际,实用性强。最后采用三次均匀有理B样条曲线对螺旋线进行插补,仿真结果良好。Interpolation algorithm is a fundamental one in the robot system.In this paper a cubic Uniform Rational B-Spline interpolation algorithm is studied.Basing on cubic Non-Uniform Rational B-Spline（NURBS）,the expression of cubic Uniform Rational B-Spline has gotten.The law of B-spline control points in the cubic Uniform Rational B-Spline is discovered,which will make calculation simple.What＇s more,the algorithm is very practical by considering the problem of acceleration-deceleration control.Finally,use cubic Uniform Rational B-spline interpolation to fit the helical line.The algorithm has been tested in simulation yielding good results.

关 键 词：机器人 插补算法 三次均匀有理B样条曲线 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]