Research on Interpolation Control of 6-DOF Water Cutting Robot
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.
Bo Zhao, Guanglin Wang, Wei Ma, Zhibo Yang and Yanyan Yan
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