Real-time Coplanar NURBS Curve Fitting and Interpolation for 6-DOF Robot Arm

被引：0

作者：

Chen, Chin-Sheng ^{[1
]}

Chen, Shih-Kang ^{[2
]}

Lai, Cheng-Hsien ^{[3
]}

机构：

[1] Natl Taipei Univ Technol, Grad Inst Automat Technol, Taipei 10608, Taiwan

[2] Natl Taipei Univ Technol, Grad Inst Mech & Elect Engn, Taipei 10608, Taiwan

[3] Precis Machinery Res Dev Ctr PMC, Robot Control Dept, Intelligent Syst Div, Taichung 40768, Taiwan

来源：

2015 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND INTELLIGENT SYSTEMS (ARIS) | 2015年

关键词：

ALGORITHM;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper proposes a real-time coplanar Non-Uniform Rational B-Spline (NURBS) curves fitting and interpolation for 6-DOF robot arm to improve the fitting and interpolation quality, and reduce the calculation effort. The process consists of (1) reading discrete points, (2) discrete points extraction, (3) curve fitting, (4) interpolation, and (5) inverse kinematics transformation. According to the simulation and experimental results, the proposed approach certainly raises the fitting and interpolation quality, and the efficiency of calculation.

引用

页数：6

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