Research on Interpolation Control of 6-DOF Water Cutting Robot

Abstract:

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In order to get the exact water cutting of the complexity shape, the 6-DOF robot kinematics model is put forward. The gesture of every point can be calculated in real-time through NC interpolation algorithm of the expected discrete points on the track. On the basis of the matrix of position and gesture, a precise control method of 6-DOF water cutting robot trajectory and attitude of the end is proposed which comes from the improved NC-based code and could get any angle cutting surface, which is easy to program off-line. Finally, the simulation verity of NC interpolation control is made by VC and MATLAB tools.

Info:

Periodical:

Edited by:

Bo Zhao, Guanglin Wang, Wei Ma, Zhibo Yang and Yanyan Yan

Pages:

257-263

DOI:

10.4028/www.scientific.net/KEM.455.257

Citation:

M. H. Xie and W. Wang, "Research on Interpolation Control of 6-DOF Water Cutting Robot", Key Engineering Materials, Vol. 455, pp. 257-263, 2011

Online since:

December 2010

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Price:

$35.00

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