摘要
针对3-TPS混联机器人空间运动性能要求及自身的结构特点,提出坐标空间的粗插补算法和关节空间的精插补算法,以提高混联机器人运动轨迹误差。精插补采用在原控制系统中的样条插值算法基础上改进的CBI曲线插补算法,保证了拟合曲线通过粗插补离散点。最后采用MATLAB软件对精插补算法在两种精插补策略下对轨迹误差的影响进行了仿真分析,验证CBI曲线拟合算法的正确性。该混联机器人的控制算法对轨迹误差的影响为运动控制提供了切实可行的控制策略与算法基础。
Both coarse interpolation algorithm in coordinate space and fine interpolation algorithm in joint space were presented to improve motion trajectory error of hybrid robot Aiming at the characteristics of motion performance and the structure of3-TPS hybrid robot. The improved CBI curve interpolation algorithm from the spline interpolation algorithm of original control system was applied in the fine interpolation to guarantee that the fitting curve could get through the discrete points of coarse interpolation. The influence of precise interpolation algorithm on track error under two precise interpolation strategies were performed using the MATLAB software to validate the CBI curve algorithm. The influence of this control algorithm of this hybrid robot on the trajectory error will provide the feasible control strategy and algorithm basis.
出处
《机械设计》
CSCD
北大核心
2015年第11期14-18,共5页
Journal of Machine Design
基金
国家自然科学基金资助项目(51105258)
辽宁省自然科学基金计划资助项目(201202055)
