[1]张恩洲,吴瑞珉.JZ-1 机器人轨迹插补及控制算法[J].南京理工大学学报(自然科学版),1998,(03):56-59.
　Zhang Enzhou Wu Ruimin.Path Interpolation and Control Algorithms for JZ-1 Robot[J].Journal of Nanjing University of Science and Technology,1998,(03):56-59.
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JZ-1 机器人轨迹插补及控制算法()
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《南京理工大学学报》（自然科学版）[ISSN:1005-9830/CN:32-1397/N]

卷:
期数:
1998年03期
页码:
56-59
栏目:
出版日期:
1998-06-30

文章信息/Info

Title:
Path Interpolation and Control Algorithms for JZ-1 Robot
作者:
张恩洲; 吴瑞珉
南京理工大学制造工程学院, 南京210094
Author(s):
Zhang Enzhou Wu Ruimin
School of Manufacturing Engineering,NUST,Nanjing 210094
关键词:
机器人;  插值;  轨迹;  规划
Keywords:
robot s;  interpo lation paths;  planning
分类号:
TP242.202
摘要:
结合实际研制的工业浇注机器人JZ- 1, 详细分析讨论了机器人点到点的运行控制方法, 以及在连续轨迹运行时关于直线插补及园弧插补的算法。由于点到点运行的高速性, 必须引入加减速度。使用4- 1- 4 次多项式分3 段对点到点的运动进行逼近。由于浇注的特殊性, 园弧是以末端勺口为中心的轨迹, 其插补算法有别于通用园弧插补。同时还给出了控制流程。
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.

参考文献/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

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备注/Memo

备注/Memo:
江苏省“九五”科技攻关项目
张恩洲　男　55 岁　副教授
更新日期/Last Update: 2013-03-29