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Path Interpolation and Control Algorithms for JZ-1 Robot(PDF)

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
1998年03期
Page:
56-59
Research Field:
Publishing date:

Info

Title:
Path Interpolation and Control Algorithms for JZ-1 Robot
Author(s):
Zhang Enzhou Wu Ruimin
School of Manufacturing Engineering,NUST,Nanjing 210094
Keywords:
robot s interpo lation paths planning
PACS:
TP242.202
DOI:
-
Abstract:
In this paper , in the light o f a po uring ro bot w hich is desig ned and used in pr act ice, point-to-point movement contr olling metho d is analyzed and alg orithms for linear and circular inter polat ion fo r cont inuous path are discussed in detail. Because of the hig h speed of point-to-point mo vement , accelerat io n and decelerat ion must be int roduced. 4- 1 - 4 poly nomial is used to approach the path that is divided into three segments. Due to the po uring speciality, the center of the arc is edge of po ur -spo on and so the alg orithm of interpolat ion is quite different from universal one. The contr ol flow chart is also presented herein.

References:

1 Kalny R, Valasek M. Co ntinuous pa th contr ol of no n-simpl ro bo ts. Robot ersy stem , 1991, 2:65~72
2 Rembo ld Ulrich. Ro bot techno lo gy and applications. New Yo rk & Basel: Mar cel Dekker,Inc, 1990. 7~11
3 付京逊, 冈萨雷斯R C, 李C S . 机器人学. 北京: 中国科学技术出版社, 1989. 113~127

Memo

Memo:
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Last Update: 2013-03-29