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| Realization of Continuous Path Control of Manipulators by Double Parabolic Interpolation |
| SUN Qiao, QIAN Wenhan |
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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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Received: 30 October 1986
Published: 15 July 1987
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