Simulation and Experimental Research on Real-time NURBS Interpolator for Industrial Robot

Authors

Zhang Tie, School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, China;
Wentao Gong, School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, China;
Yanbiao Zou, School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, China;

Abstract

Abstract: A real-time non uniform rational B-spline (NURBS) path interpolator with look-ahead algorithm for six-axis industrial robot is investigated. The algorithm consists of two modules: the global interpolation of the NURBS, and the look-ahead interpolator. The parametric equation of NURBS is built based on the parameter u and v, and the smooth NURBS curve is achieved from several teaching points. The velocity constraint equations are introduced initially based on chord error and centripetal acceleration, and the look-ahead velocity plan and the interpolator are investigated. The current strategy is compared with the trapezoidal acceleration and deceleration interpolator in a real-time controller for industrial robot. The simulation and experiment results show that the strategy with look-ahead algorithm interpolator leads to steadier speed; and the sudden change of joint velocity and joint acceleration are decreased to a great degree. It is proved that this strategy is effective to be used in the real-time NURBS interpolation of the six-axis robots.

Recommended Citation

Tie, Zhang; Gong, Wentao; and Zou, Yanbiao (2019) "Simulation and Experimental Research on Real-time NURBS Interpolator for Industrial Robot," Journal of System Simulation: Vol. 30: Iss. 4, Article 35.
DOI: 10.16182/j.issn1004731x.joss.201804035
Available at: https://dc-china-simulation.researchcommons.org/journal/vol30/iss4/35

First Page

1496

Revised Date

2016-06-26

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201804035

Last Page

1504

CLC

TP242.2

Recommended Citation

Zhang Tie, Gong Wentao, Zou Yanbiao. Simulation and Experimental Research on Real-time NURBS Interpolator for Industrial Robot[J]. Journal of System Simulation, 2018, 30(4): 1496-1504.

DOI

10.16182/j.issn1004731x.joss.201804035