Prediction-Correction Algorithm of Cubic B-Spline Curve Interpolation in Industrial Robot Control System Based on LinuxCNC

被引：0
|
作者：
Shi Bu-Hai [1 ]
Lin Hai-Ming [1 ]
Ding Chuan [2 ]
机构：
[1] South China Univ Technol, Sch Automat Sci & Engn, Guangzhou 510641, Guangdong, Peoples R China
[2] South China Univ Technol, Sch Design, Guangzhou 510641, Guangdong, Peoples R China
来源：
2018 37TH CHINESE CONTROL CONFERENCE (CCC) | 2018年
关键词：
prediction; correction; Cubic B-spline curve; interpolation algorithm; LinuxCNC;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In order to make industrial robot control system based on LinuxCNC have the ability to process free curves, this paper studies the B-Spline curve's mathe-matics model and interpolation principle. Due to the large time complexity of Taylor series interpolation algorithm, a prediction-correction method of Cubic B-spline curve interpolation algorithm was proposed to calculate the parameter of next position. Since Motion controller is the core component of LinuxCNC, this paper studies the architecture of LinuxCNC's Motion controller and modify the source code of LinuxCNC to add the function of B-spline interpolation. The simulation results of MatLab proved that the prediction-correction B-spline interpolation algorithm take less time in calculating the parameter of next interpolation step. The simulation results in LinuxCNC show that the industrial robot can process complex free curves by B-spline interpolation after entering the corresponding control point.
引用
收藏
页码：5201 / 5206
页数：6
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