基于NURBS曲线轨迹规划与速度规划的研究

提出了一种基于非均匀有理B样条曲线(NURBS)的运动轨迹规划插补算法,与传统插补方法相比,该插补器能够保持高速度和高精度加工性能,而且能够抑制在插补过程当中产生的轮廓误差和速度波动.在插补过程中由于限制轮廓误差的需要而产生了一些速度尖点,在这些尖点处的加速度和加加速度往往都非常大,这些对机床的伺服马达产生很大的冲击力,提出的插补算法能够根据允许的最大轮廓误差、最大加速度、最大加加速度来对插补速度进行自适应调整,使其满足插补要求.通过一个NURBS曲线插补的MATLAB仿真的例子,说明了该曲线插补算法能够满足高速、高精度加工的要求.

Trajectory and Velocity Planning Algorithm Based on NUBRS curve

A real-time interpolation algorithm based on non-uniform rational B-spline(NURBS) curve was proposed.In comparison with the traditional linear and circular interpolators,the NURBS interpolator can maintain small contour errors and high interpolating computing speed.The proposed interpolation algorithm can confine the contour errors and feedrate fluctuations.As the sudden change in the curvature of the path easily leads to the increased contour errors and also makes sudden change of driving force of servo motor,the algorithm can adaptively adjust the velocity according to the maximum contour errors,acceleration/deceleration values and jerk value.Experiments results show the effectiveness of the proposed interpolator for machining curved paths defined by NURBS.