摘要
论述了焊补机器人在三维空间全方位的工作路径规划．通过对空间曲面位姿的精确计算和利用三次Ｂ样条函数对关节变量的插值，使规划的路径轨迹准确地通过预定的焊补位置而不产生误差，且易于编制路径规划程序．
In this paper, the omnidirectional path planning in 3D space of the welding robot is presented. In order to make the obtained trajectory pass through the scheduled position, the spatial pose must be accurately calculated and the angle of every joint is interpolated using the cubic B -Splines. Thus, the accuracy of controlling error is high and the path planning program can be easily compiled.
出处
《哈尔滨理工大学学报》
CAS
2000年第6期51-55,共5页
Journal of Harbin University of Science and Technology
基金
"九五"科技攻关项目
