论文部分内容阅读
提出了一种基于非均匀有理B样条曲线(NURBS)的运动轨迹规划插补算法,与传统插补方法相比,该插补器能够保持高速度和高精度加工性能,而且能够抑制在插补过程当中产生的轮廓误差和速度波动。在插补过程中由于限制轮廓误差的需要而产生了一些速度尖点,在这些尖点处的加速度和加加速度往往都非常大,这些对机床的伺服马达产生很大的冲击力,提出的插补算法能够根据允许的最大轮廓误差、最大加速度、最大加加速度来对插补速度进行自适应调整,使其满足插补要求。通过一个NURBS曲线插补的MATLAB仿真的例子,说明了该曲线插补算法能够满足高速、高精度加工的要求。
An algorithm based on non-uniform rational B-spline curve (NURBS) for trajectory planning and interpolation is proposed. Compared with the traditional interpolation method, this interpolator can maintain high speed and high precision machining performance, Contour error and velocity fluctuations during the fill process. In the interpolation process due to the need to limit the contour error generated some sharp cusps at these cusps at the acceleration and acceleration are often very large, these have a great impact on the servo motor machine, the proposed interpolation The interpolation algorithm can adaptively adjust the interpolation speed according to the maximum allowable contour error, the maximum acceleration and the maximum acceleration, so as to satisfy the interpolation requirement. An example of MATLAB simulation of NURBS curve interpolation shows that the curve interpolation algorithm can meet the requirements of high speed and high precision machining.