Research on Interpolation Algorithm of Three-Links Hybrid Machine Tool
Aiming at the characteristics of structure and control of three-links hybrid machine tool, the interpolation strategy of CNC system is proposed in this paper. Coarse interpolation in workspace and fine interpolation in joint-space are expatiated. The trajectory points are transformed into discrete points by coarse interpolation mapping from workspace to joint-space. At the same time, the plans of trajectory, velocity and acceleration of discrete points in workspace are got, and then joint discrete points are realized by joint fitting smooth function. In order to meet the design demand and enhance effectively interpolation precision, the five polynomial interpolations will be thinning discrete points, and geometric locus will be very smooth.
Zhengyi Jiang and Chunliang Zhang
L. D. Zhu et al., "Research on Interpolation Algorithm of Three-Links Hybrid Machine Tool", Advanced Materials Research, Vols. 97-101, pp. 3124-3127, 2010