Abstract
The linear robot path is tangential and curvature discontinuity, which will lead to vibration and unnecessary hesitation during execution. Local corner transition method and local spline interpolation method are used in state-of-art industrial robot controller to reduce vibration, while local corner transition method cannot interpolate target points and local spline interpolation method cannot constrain chord errors. This research proposes a robot path local interpolation method that eliminates deficiencies of each method. The smoothing method satisfies all of the following requirements: G1continuity, target point interpolation and chord tolerance confined, shape-preserving (free of self-intersection), and unified parameterization. The generated smooth path consists of linear path and circular arc path with G1continuity. A geometric iterative method cooperating with local corner transition method is used to generate local interpolation path. Simulations and actual experiments verify the generated smooth path is G1continuous, tolerance constrained, shape-preserving, and have high computational efficiency.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
