Paper Title:
The Research of High-Precision Interpolation for Complex Trajectory of SCARA Robot Based on NURBS
  Abstract

The traditional interpolation methods can’t get high-precision result for the path planning of industrial robot, to solve this problem, this paper presented a new interpolation method based on NURBS curve. The paper established the kinematics transformation matrix of SCARA robot, put forward the principle of NURBS curve interpolation, and described the details of trajectory planning for industrial robot in the rectangular space. Finally, the method mentioned in the paper was tested and compared with point to point interpolation method by Matlab simulations, the result showed that the method mentioned in the paper can reduce the interpolation error and the computational cost markedly.

  Info
Periodical
Edited by
Han Zhao
Pages
147-153
DOI
10.4028/www.scientific.net/AMM.130-134.147
Citation
L. Zhao, K. Q. Chen, Z. Z. Zhang, "The Research of High-Precision Interpolation for Complex Trajectory of SCARA Robot Based on NURBS", Applied Mechanics and Materials, Vols. 130-134, pp. 147-153, 2012
Online since
October 2011
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$32.00
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