DEVELOPMENT AND IMPLEMENTATION OF A NURBS CURVE MOTION INTERPOLATOR

Authors
ZHANG QYG GREENWAY RB
Citation
Qyg. Zhang et Rb. Greenway, DEVELOPMENT AND IMPLEMENTATION OF A NURBS CURVE MOTION INTERPOLATOR, Robotics and computer-integrated manufacturing, 14(1), 1998, pp. 27-36
Citations number
23
Categorie Soggetti
Robotics & Automatic Control","Computer Science Interdisciplinary Applications","Robotics & Automatic Control","Computer Science Interdisciplinary Applications","Engineering, Manufacturing
Journal title
Robotics and computer-integrated manufacturing → ACNP
ISSN journal
07365845
Volume
14
Issue
1
Year of publication
1998
Pages
27 - 36
Database
ISI
SICI code
0736-5845(1998)14:1<27:DAIOAN>2.0.ZU;2-1
Abstract
This paper deals with the issues of development and implementation of a real-time NURBS interpolator for a six-axis robot. Using an open-arc hitecture controller system as a testbed; a real-time NURBS curve inte rpolator was developed, implemented and tested. Sample runs were condu cted with the resulting trajectories measured in real-time during robo t motion. The resulting trajectories are analyzed, discussed and compa red with those from a commonly used point-to-point approximation techn ique. The real-time NURBS curve interpolator's feasibility, advantages and related issues are also discussed. (C) 1998 Elsevier Science Ltd. All rights reserved.