The Research of High-Precision Interpolation for Complex Trajectory of SCARA Robot Based on NURBS

摘要：

The traditional interpolation methods cant get high-precision result for the path planning of industrial robot, to solve this problem, this paper presented a new interpolation method based on NURBS curve. The paper established the kinematics transformation matrix of SCARA robot, put forward the principle of NURBS curve interpolation, and described the details of trajectory planning for industrial robot in the rectangular space. Finally, the method mentioned in the paper was tested and compared with point to point interpolation method by Matlab simulations, the result showed that the method mentioned in the paper can reduce the interpolation error and the computational cost markedly.

关键词： Industrial robot Trajectory planning NURBS Interpolation

作者: Zhao Liang Chen Kaiqiang Zhang Zhizheng

作者单位: Department of Mechanical Engineering, Zhejiang University, Hangzhou, China

会议类型: 国际会议

会议名称: 2011 3nd International Conference on Mechanical and Electronics Engineering(2011年第三届机械与电子工程国际会议 ICMEE2011)

会议地点: 合肥

会议语种:英文

页码: 147-153

在线出版日期: 2011-09-23（万方平台首次上网日期，不代表论文的发表时间）