孙巧, 钱文瀚. 用双拋物线插补实现机器人连续轨迹控制[J]. 机器人, 1987, 9(4): 12-17.
引用本文: 孙巧, 钱文瀚. 用双拋物线插补实现机器人连续轨迹控制[J]. 机器人, 1987, 9(4): 12-17.
SUN Qiao, QIAN Wenhan. Realization of Continuous Path Control of Manipulators by Double Parabolic Interpolation[J]. ROBOT, 1987, 9(4): 12-17.
Citation: SUN Qiao, QIAN Wenhan. Realization of Continuous Path Control of Manipulators by Double Parabolic Interpolation[J]. ROBOT, 1987, 9(4): 12-17.

用双拋物线插补实现机器人连续轨迹控制

Realization of Continuous Path Control of Manipulators by Double Parabolic Interpolation

  • 摘要: 本文就如何有效地对机器人施行连续轨迹控制的一系列问题进行了探讨.通过增强MOVE MASTER机器人控制软件功能,成功地实现了一套可行性好、算法简便的控制方案.它将关节坐标的离线双抛物线拟合与在线积分法插补相结合.在不超差的前提下,使抛物线段数最少,从而节省了插补所需存储空间.实践证明,此方案能使机器人实际运动轨迹连续、光滑,与理想轨迹十分逼近.另外,本文还就插补过程中累积误差的补偿作了探讨.本方案同样适用于工业机器人运动控制.并且,它还弥补丁现有的直线插补、圆弧插补之不足.

     

    Abstract: This paper deals with a series problems of how to apply the continuous path con-trol to a robot effectively.Through enhancing the function of control software of MO-VE MASTER robot,we realized successfully a new method quite feasible and simple in alg-orithm.It combines the off-line double parabolic fit with the on-line digital differentialanalyser(DDA)interpolation.Under the prerequisite of not exceeding the permissibleanalyser(DDA)interpolation.Under the prerequisite lf not exceeding the permissibleerror,the number of parabolas can be reduced to a minimum so that the memories ne-eded for interpolation is decreased.Practice verifies that the actual moving path can becontinuous,smooth and excellently close to the desired path.

     

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