基于WebGL的工业机器人运动轨迹高性能渲染算法研究与实现  

Research and Implementation of High Performance Rendering Algorithm for Industrial Robot Trajectory Based on WebGL

作　　者：王谦妹 王挺[2,3,4] 张延华[1] WANG Qianmei;WANG Ting;ZHANG Yanhua(School of Information Engineering,Shenyang University of Chemical Technology,Shenyang 110142;Key Laboratory of Networked Control Systems,Chinese Academy of Sciences,Shenyang 110016;Industrial Robot and Intelligent Manufacturing Innovation Research Institute,Chinese Academy of Science,Shenyang 110169;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016)

机构地区：[1]沈阳化工大学信息工程学院,沈阳110142 [2]中国科学院网络化控制系统重点实验室,沈阳110016 [3]中国科学院工业机器人与智能制造创新研究院,沈阳110169 [4]中国科学院沈阳自动化研究所,沈阳110016

出　　处：《计算机与数字工程》2024年第9期2842-2847,2854,共7页Computer & Digital Engineering

摘　　要：针对浏览器端无法满足规模化工业机器人轨迹数据的高精度高实时处理的性能需求,提出了一种基于WebGL的曲线插值拟合BH-DP改进压缩算法,面向应用层的数据渲染需求,对用于虚实同步的机器人运动轨迹数据进行基于五次NURBS的曲线插值拟合预处理,补全工业机器人轨迹数据的空白点从而使轨迹具有良好的光滑性,接着针对由工业机器人轨迹插值优化而引起的数据量激增问题,提出了一种BH-DP改进压缩算法,并与传统三维死区-道普算法进行了实验对比,结果表明该算法能够有效地保留轨迹数据的走势特征,同时达到了多机器人轨迹实时渲染的要求,为Web轻量化应用提供了参考。Aiming at the browser side can not meet the performance requirements of high-precision and real-time processing of large-scale industrial robot trajectory data,an improved compression algorithm of curve interpolation fitting BH-DP based on WebGL is proposed.Facing the data rendering requirements of the application layer,the curve interpolation fitting preprocessing based on quintic NURBS is carried out for the robot human motion trajectory data used for virtual real synchronization.The blank points of industrial robot trajectory data are filled,so that the trajectory has good smoothness.Then aiming at the surge of data caused by industrial robot trajectory interpolation optimization,an improved BH-DP compression algorithm is proposed,and compared with the traditional three-dimensional dead zone dope algorithm.The results show that the algorithm can effectively retain the trend characteristics of trajectory data and meet the requirements of multi robot trajectory real-time rendering.It provides a reference for Web lightweight applications.

关 键 词：WEBGL 五次NURBS曲线 曲线插值拟合 数据压缩 

分 类 号：TP311.1[自动化与计算机技术—计算机软件与理论]