等弦分割采样的球面插补算法研究  

Study on Key Techniques of Automatic Pruning of Spherical Shrubs

作　　者：陈玺 李传军 CHEN Xi;LI Chuan-jun(School of Mechanical Engineering,Tianjin University of Science and Technology,Tianjin 300202,China;School of Mechanical Engineering,Tianjin Sino-German University of Applied Sciences,Tianjin 300350,China)

机构地区：[1]天津科技大学机械工程学院,天津300202 [2]天津中德应用技术大学机械工程学院,天津300350

出　　处：《机械设计与制造》2023年第12期219-222,共4页Machinery Design & Manufacture

基　　金：天津市科技计划项目(20YDTPJC01280);天津市教委自然科学重点计划项目(2020ZD05)。

摘　　要：机器人空间球面插补算法大都为多段圆弧插补组成,针对现有的圆弧插补计算量大、复杂等问题,提出了一种基于等弦分割采样的新型空间圆弧插补算法,该算法利用弧长与弦长的映射关系,将弦长等分求得圆弧上插补点坐标。根据计算所求得插补点均在圆弧上,消除了插补的累积误差,提高了圆弧插补精度,与其他空间圆弧插补算法相比运算时间大幅减小,并仿真验证求得空间圆弧插补点。通过样机实验,验证了上述插补算法的正确性。将这种新型空间算法应用到更为复杂空间球面插补,求解并仿真出球面插补点坐标,求解机器人在球面插补的末端姿态。通过MATLAB对机器人建模并仿真出球形插补过程,验证了该算法的有效、可行性。实现了不同尺寸球面插补的仿真。Most spatial spherical interpolation algorithms of robot are composed of multi-segment circular interpolation.Aiming at the problems of large and complex calculation of circular interpolation,a new spatial circular interpolation algorithm based on equal chord sampling is proposed.The algorithm uses the mapping relationship between arc length and chord length to obtain the coordinates of interpolation points on the arc by equal chord length.According to the calculation,the interpolation points are all on the arc,which eliminates the accumulative error of interpolation and improves the accuracy of arc interpolation.Compared with other spatial arc interpolation algorithms,the calculation time is greatly reduced,and the spatial arc interpolation points are verified by simulation.The correctness of the interpolation algorithm is verified by prototype experiment.This new spatial algorithm is applied to spherical interpolation in more complex space,the coordinates of spherical interpolation points are solved and simulated,and the terminal posture of robot in spherical interpolation is solved.The robot is modeled by MATLAB and the spherical interpolation process is simulated,which verifies the effectiveness and feasibility of the algorithm.The simulation of spherical interpolation of different sizes is realized.

关 键 词：圆弧插补 球面插补 运动控制 机器人 

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]