Industrial Robot Contouring Control Based on Non-Uniform Rational B-Spline Curve

Autor: Guirong Wang, Jiahao Chen, Kun Zhou, Zhihui Pang
Jazyk: angličtina
Rok vydání: 2022
Předmět:
Zdroj: Symmetry, Vol 14, Iss 12, p 2533 (2022)
Druh dokumentu: article
ISSN: 2073-8994
18488293
DOI: 10.3390/sym14122533
Popis: This paper presents a novel algorithm about the industrial robot contouring control based on the NURBS (non-uniform rational B-spline) curve. First, aiming at the error between the industrial robot’s actual trajectory and the desired trajectory, the contour error is proposed as the trajectory evaluation index, and the estimation algorithm of contour error based on the tangent approximation is proposed. Based on the tangent approximation algorithm, the estimation algorithm of contour error in the local task coordinate frame is proposed to realize the transformation from the Cartesian coordinate frame to the local task coordinate frame. Second, according to the configuration of the industrial robot, a modified cross-coupling control scheme based on the local task coordinate frame is designed. Finally, the Bernoulli’s lemniscate curves are constructed by NURBS curve and five-order polynomial curve, respectively, and they are symmetrical. The contrast experiment is designed using the two types of constructed Bernoulli’s lemniscate curves as the incentive trajectory. Through the analysis and comparison between the obtained uniaxial tracking error and the contour error curve of the two incentive trajectories, it is concluded that the incentive trajectory constructed by the NURBS curve has better contour control performance than that constructed by the five-order polynomial curve. The results drawn from this paper lay a certain foundation for the future high-precision contouring control of industrial robots.
Databáze: Directory of Open Access Journals
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