| 机器人空间三点圆弧功能的实现 |
| |
| 引用本文： | 叶伯生.机器人空间三点圆弧功能的实现[J].华中科技大学学报(自然科学版),2007,35(8):5-8. |
| |
| 作者姓名： | 叶伯生 |
| |
| 作者单位： | 华中科技大学,国家数控系统工程技术研究中心,湖北,武汉,430074 |
| |
| 摘 要： | 基于机器人终端执行器经历的空间任意三点,求出空间圆弧的圆心和半径,继而推导出机器人控制系统中任意空间圆弧的实现方法.该算法不仅理论上可使所有插补点均落在圆弧上,而且由于采用了矢量算法,并以三点的次序作为圆弧的方向,从而避免了插补方向和过象限的判断,可以使用统一的实时插补递推公式.研究成果已在实际机器人中得到应用,该成果同样适用于需要空间圆弧功能的机床数控系统.
|
| 关 键 词： | 机器人 空间圆弧 插补 矢量 误差 机器人控制系统 空间圆弧 功能 robot arc interpolation 机床数控系统 应用 研究 递推公式 实时插补 统一 使用 判断 过象限 方向 矢量算法 插补点 理论 方法 半径 |
| 文章编号： | 1671-4512（2007）08-0005-04 |
| 修稿时间： | 2006-07-12 |
Implementation of arc interpolation in a robot by using three arbitrary points |
| |
| Ye Bosheng.Implementation of arc interpolation in a robot by using three arbitrary points[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2007,35(8):5-8. |
| |
| Authors: | Ye Bosheng |
| |
| Institution: | National NC System Engineering Research Center, Huazhong University of Science and Technology, Wuhan 430074, China |
| |
| Abstract: | A method is proposed to calculate the center and radius of an arc in a space through three arbitrary points.The corresponding interpolation algorithm for an arbitrary special arc in a robot control system was deduced.All interpolated points could fall on the curve through the algorithm theoretically.A unified recurrence formula could be used without the direction judgment,because vector algorithm was used and the sequence of three points was taken as the interpolation direction.The result has been applied to a practical robot.This achieve can be also used in CNC systems in machine tools. |
| |
| Keywords: | robot arc in space interpolation vector error |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
