The Robot Motion Trajectory Algorithm Research Based On B-Spline and new Velocity Planning

被引：0
|
作者：
Shi BuHai [1 ]
He JingPeng [1 ]
机构：
[1] South China Univ Technol, Sch Automat Sci & Engn, Guangzhou 510641, Guangdong, Peoples R China
来源：
PROCEEDINGS OF THE 28TH CHINESE CONTROL AND DECISION CONFERENCE (2016 CCDC) | 2016年
关键词：
B-Spline curve; Velocity planning; Instantaneous velocity interpolation; 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：
To obtain the ability of machining free-form curve trajectory accurately for open Welding robot system based on LinuxCNC, this paper directed at the traditional speed control algorithms which can't achieve efficiency requirements and proposed new velocity control algorithm. The paper also studied the B-Spline mathematic model and its interpolation principle based on the new control algorithm, proposed three B-Spline curve Instantaneous velocity interpolation algorithm and the design steps of B-Spline curve interpolation algorithm in LinuxCNC system. The experimental simulation results showed that B-Spline interpolation algorithm can realize free-form curve tracking in LinuxCNC system, and showed a good curve run effect in the preview screen.
引用
收藏
页码：5968 / 5974
页数：7
相关论文
共 50 条
  • [21] Extension of B-Spline Curve Based on Similarity to Reference Curve
    Mu G.
    Zhang Z.
    Zang T.
    Dai S.
    1705, Institute of Computing Technology (30): : 1705 - 1711
  • [22] Excavation trajectory planning for unmanned mining electric shovel using B-spline curves and point-by-point incremental strategy under uncertainty
    Hu, Zhengguo
    Lin, Shibin
    Long, Xiuhua
    Pang, Yong
    He, Xiwang
    Song, Xueguan
    AUTOMATION IN CONSTRUCTION, 2025, 174
  • [23] Planning Smooth and Obstacle-Avoiding B-Spline Paths for Autonomous Mining Vehicles
    Berglund, Tomas
    Brodnik, Andrej
    Jonsson, Hakan
    Staffanson, Mats
    Soderkvist, Inge
    IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2010, 7 (01) : 167 - 172
  • [24] Research on planning and optimization of trajectory for underwater vision welding robot
    Li S.
    Zhang X.
    Array, 2022, 16
  • [25] Smooth and collision-free trajectory generation in cluttered environments using cubic B-spline form
    Li, Xingchen
    Gao, Xifeng
    Zhang, Wei
    Hao, Lina
    MECHANISM AND MACHINE THEORY, 2022, 169
  • [26] Fast converging elitist genetic algorithm for knot adjustment in B-spline curve approximation
    Bureick, Johannes
    Alkhatib, Hamza
    Neumann, Ingo
    JOURNAL OF APPLIED GEODESY, 2019, 13 (04) : 317 - 328
  • [27] Research on the motion trajectory optimization method based on the improved genetic algorithm for an intelligent vehicle
    Li, Aijuan
    Zhao, Wanzhong
    Li, Shunming
    Qiu, Xuyun
    Wang, Xibo
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 2016, 230 (13) : 1729 - 1740
  • [28] Ship hull plate processing surface fairing with constraints based on B-spline
    LIU Yu-jun
    JournalofMarineScienceandApplication, 2005, (03) : 13 - 17
  • [29] Isobathymetric line simplification with conflict removal based on a B-spline snake model
    Guilbert, Eric
    Lin, Hui
    MARINE GEODESY, 2007, 30 (1-2) : 169 - 195
  • [30] Influence of Nose Rail Reconstruction Profile Parameters Based on B-Spline Curve
    Zhao W.
    Cao Y.
    Xinan Jiaotong Daxue Xuebao/Journal of Southwest Jiaotong University, 2024, 59 (02): : 264 - 272
12345