基于三次均匀B样条插值方法在机器人轨迹插补中的应用  

Cubic Uniform B-Spline Interpolation Algorithm Used in Manipulator’s Trajectory Interpolation

作　　者：赵芃沛 刘鹏飞 刘洋 朱镭[1] ZHAO Pengpei;LIU Pengfei;LIU Yang;ZHU Lei(Aeronautics and Astronautics Propulsion Research Institute Co.,Ltd.,Xi'an 710003,China;Bosch Rexroth(Xi'an)Electrie Drives and Control Co.,Ltd.,Xi'an 710018,China;School of Astronautics,Northwseterm Polytechnical Univercity,Xi'an 710065,China)

机构地区：[1]陕西空天动力研究院有限公司智能制造创新中心,西安710003 [2]博世力士乐(西安)电子传动与控制有限公司,西安710018 [3]西北工业大学航天学院,西安710065

出　　处：《兵器装备工程学报》2019年第S02期52-55,共4页Journal of Ordnance Equipment Engineering

摘　　要：以型值点为已知条件,增加了4种可选的端点条件并利用三次均匀B样条特点组成线性方程计算机器人运动轨迹控制点。通过调整插补的步长使运动轨迹遵循抛梯形加减速规律,以满足电机平稳加减速条件。通过仿真,验证了算法的可行性。The cubic uniform B-spline interpolation algorithm is used to generating manipulator trajectory.The formula expressions of cubic uniform B-spline curve was discoursed.Some curve points should give at first,one of the four constraints was benefit to calculate out the control point.In order to meet the conditions of smooth acceleration of the motor,an algorithm was used to adjusting the interpolation step so that the velocity trajectory could be a throwing trapezoidal curve.Through simulation,verify the feasibility of the algorithm.

关 键 词：机器人 轨迹插补 三次均匀B样条 预估校正 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]