Cartesian spline interpolation for industrial robots

被引：33

作者：

Horsch, T ^{[1
]}

Juttler, B ^{[1
]}

机构：

[1] Univ Technol Darmstadt, Dept Math, D-64289 Darmstadt, Germany

来源：

COMPUTER-AIDED DESIGN | 1998年 / 30卷 / 03期

关键词：

rational spline motions; Cartesian spline interpolation; industrial robots;

D O I：

10.1016/S0010-4485(97)00061-4

中图分类号：

TP31 [计算机软件];

学科分类号：

081202 ; 0835 ;

摘要：

We describe an algorithm for interpolation of positions by a rational spline motion. A reparameterization of the resulting motion is applied in order to achieve the desired distribution of the velocity. For the ease of presentation we discuss trapezoidal velocity profiles, i.e. piecewise constant and linear velocity distribution. The method can be generalized to more general velocity profiles. The whole spline scheme possesses some special features which make it a suitable tool for the control of industrial robots. (C) 1998 Elsevier Science Ltd. All rights reserved.

引用

页码：217 / 224

页数：8

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