A High-Precision Planar NURBS Interpolation System Based on Segmentation Method for Industrial Robot
NURBS curve parameter interpolation is extensively employed in precision trajectory tasks for industrial robots due to its smoother performance compared to traditional linear or circular interpolation methods. The trajectory planning systems for industrial robots necessitate four essential functiona...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-12-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/13/24/13210 |
| _version_ | 1797382201487130624 |
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| author | Xun Liu Yan Xu Jiabin Cao Jinyu Liu Yanzheng Zhao |
| author_facet | Xun Liu Yan Xu Jiabin Cao Jinyu Liu Yanzheng Zhao |
| author_sort | Xun Liu |
| collection | DOAJ |
| description | NURBS curve parameter interpolation is extensively employed in precision trajectory tasks for industrial robots due to its smoother performance compared to traditional linear or circular interpolation methods. The trajectory planning systems for industrial robots necessitate four essential functional modules: first, the spline curve discretization technique ensuring chord error compliance; second, the contour scanning technique for determining the maximum feasible feed rate for multi-constraint and multi-segment paths; third, the technique for achieving a smooth feed rate profile; and fourth, the continuous curve parameter interpolation technique. Therefore, this paper proposes a high-precision planar NURBS interpolation system for industrial robots. Firstly, a segmentation method for NURBS curves based on a closed-loop chord error constraint is proposed, which segments the original global NURBS curve into a collection of Bezier curves that strictly meet the chord error constraint. Secondly, a bidirectional scanning technique is presented to meet the joint space constraint, establishing an analytical mapping between the tool tip kinematic constraint and the joint kinematic constraint. Then, based on the traditional S-shaped feed rate profile, an adaptive algorithm with a displacement constraint is introduced, considering the real-time speed adjustment requirements of robots. Finally, a compensation interpolation strategy based on arc length parameterization is adopted to solve the accumulated error problem in parameter interpolation. The effectiveness of and potential for enhancing the quality of planar machining of the proposed planar NURBS interpolation system for industrial robots are validated through simulations and experiments. The results demonstrate the system’s applicability and accuracy, and its ability to improve planar machining quality. |
| first_indexed | 2024-03-08T21:02:02Z |
| format | Article |
| id | doaj.art-d2e1900c54434d26ab6475426f0af2f0 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-08T21:02:02Z |
| publishDate | 2023-12-01 |
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| series | Applied Sciences |
| spelling | doaj.art-d2e1900c54434d26ab6475426f0af2f02023-12-22T13:51:52ZengMDPI AGApplied Sciences2076-34172023-12-0113241321010.3390/app132413210A High-Precision Planar NURBS Interpolation System Based on Segmentation Method for Industrial RobotXun Liu0Yan Xu1Jiabin Cao2Jinyu Liu3Yanzheng Zhao4School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaCollege of Information and Computer Engineering, Northeast Forestry University, Harbin 150036, ChinaSchool of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaSchool of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaSchool of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaNURBS curve parameter interpolation is extensively employed in precision trajectory tasks for industrial robots due to its smoother performance compared to traditional linear or circular interpolation methods. The trajectory planning systems for industrial robots necessitate four essential functional modules: first, the spline curve discretization technique ensuring chord error compliance; second, the contour scanning technique for determining the maximum feasible feed rate for multi-constraint and multi-segment paths; third, the technique for achieving a smooth feed rate profile; and fourth, the continuous curve parameter interpolation technique. Therefore, this paper proposes a high-precision planar NURBS interpolation system for industrial robots. Firstly, a segmentation method for NURBS curves based on a closed-loop chord error constraint is proposed, which segments the original global NURBS curve into a collection of Bezier curves that strictly meet the chord error constraint. Secondly, a bidirectional scanning technique is presented to meet the joint space constraint, establishing an analytical mapping between the tool tip kinematic constraint and the joint kinematic constraint. Then, based on the traditional S-shaped feed rate profile, an adaptive algorithm with a displacement constraint is introduced, considering the real-time speed adjustment requirements of robots. Finally, a compensation interpolation strategy based on arc length parameterization is adopted to solve the accumulated error problem in parameter interpolation. The effectiveness of and potential for enhancing the quality of planar machining of the proposed planar NURBS interpolation system for industrial robots are validated through simulations and experiments. The results demonstrate the system’s applicability and accuracy, and its ability to improve planar machining quality.https://www.mdpi.com/2076-3417/13/24/13210NURBSparameter interpolationindustrial robotclosed-loop chord error constraintS-shaped feed rate profilebidirectional scanning |
| spellingShingle | Xun Liu Yan Xu Jiabin Cao Jinyu Liu Yanzheng Zhao A High-Precision Planar NURBS Interpolation System Based on Segmentation Method for Industrial Robot Applied Sciences NURBS parameter interpolation industrial robot closed-loop chord error constraint S-shaped feed rate profile bidirectional scanning |
| title | A High-Precision Planar NURBS Interpolation System Based on Segmentation Method for Industrial Robot |
| title_full | A High-Precision Planar NURBS Interpolation System Based on Segmentation Method for Industrial Robot |
| title_fullStr | A High-Precision Planar NURBS Interpolation System Based on Segmentation Method for Industrial Robot |
| title_full_unstemmed | A High-Precision Planar NURBS Interpolation System Based on Segmentation Method for Industrial Robot |
| title_short | A High-Precision Planar NURBS Interpolation System Based on Segmentation Method for Industrial Robot |
| title_sort | high precision planar nurbs interpolation system based on segmentation method for industrial robot |
| topic | NURBS parameter interpolation industrial robot closed-loop chord error constraint S-shaped feed rate profile bidirectional scanning |
| url | https://www.mdpi.com/2076-3417/13/24/13210 |
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