文章摘要
史步海,孙会会.基于新S型速度规划的B样条曲线算法研究[J].机床与液压,2016,44(15):72-79
基于新S型速度规划的B样条曲线算法研究
B spline Curve Algorithm Research Based on New S Velocity Planning
  
DOI:10.3969/jissn1001-3881201615018
中文关键词: B样条曲线  速度规划  瞬时速度插补  LinuxCNC
英文关键词: B spline curve  Velocity planning  Instantaneous velocity interpolation  LinuxCNC
基金项目:广东省科技攻关项目资金资助(2013B010402008);广东省省级科技项目(2014B090901042)
作者单位E-mail
史步海 华南理工大学自动化科学与工程学院 bhshi@scut.edu.cn 
孙会会 华南理工大学自动化科学与工程学院  
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中文摘要:
      为使基于LinuxCNC开放式焊接机器人系统具有精确轨迹运行和加工自由曲线的能力,提出了新型速度控制算法,并基于该新型速度控制算法完成B样条曲线的数学模型及其插补原理分析,提出了3次B样条曲线瞬时速度插补算法,分析了LinuxCNC的Motion层原理,给出了在LinuxCNC系统中实现B样条曲线算法的设计步骤。实验仿真结果表明:B样条插补算法能在LinuxCNC系统中实现自由曲线的轨迹运行,并在预览界面中显示出较好的曲线行走效果。
英文摘要:
      In order to have the ability of accurate machining of free curve trajectory for open welding robot system based on LinuxCNC, the traditional speed control algorithms were propposed. The B spline mathematics model and its interpolation principle based on new speed control algorithm were completed and analyzed. Third order B spline curve instantaneous velocity interpolation algorithm was proposed. The Motion layer principle of LinuxCNC was analyzed, and the degign steps of B spline curve interpolation algorithm implement in LinuxCNC system were given. The experimental simulation results show that B spline interpolation algorithm can realize the free curve run in LinuxCNC system, and shows a good curve run effect in the preview screen.
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