摘要
基于机器人终端TCP经历的空间三个不共线的点,利用两种算法得到了通过此三点的空间圆弧圆心坐标的解析表达式,完善了已有文献的方法和结论;同时对于给定空间三点的坐标值,利用新提出的算法得到了圆心坐标的值;最后给定三组三点坐标值进行MATLA B运行平均时间比较,新提出的算法运行效率最高,优于已有文献提出的算法可作为首选算法,为机器人利用示教过程进行现场应用提供了有效支撑。
Based on the three non-collinear points in the space experienced by the robot terminal TCP,using two algorithms,the analytic expression of the space arc center coordinates through the three points is obtained,which improves the methods and conclusions of the existing literature;at the same time,for a given coordinate value of the three points in the space,the value of the center coordinates is obtained by using the new algorithm;finally,for the given three groups of three-point coordinate values,the average running time of MATLAB is compared.The new algorithm has the highest running efficiency,which is better than the algorithm proposed in the existing literature.It can be used as the preferred algorithm,and provides effective support for the robot to use the teaching process for field application.
作者
张辉
李应岐
方晓峰
ZHANG Hui;LI Yingqi;FANG Xiaofeng(Department of Basic Courses,Rocket Force University of Engineering,Xi'an,Shaanxi Province,710025 China)
出处
《科技资讯》
2021年第15期21-23,29,共4页
Science & Technology Information
基金
陕西高等教育教学改革研究重点攻关项目(项目编号:19BG038)。
