Development of a real-time trajectory generator for NURBS interpolation based on the two-stage interpolation method
Development of a real-time trajectory generator for NURBS interpolation based on the two-stage interpolation method
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DOI：
10.1007/s00170-003-1998-y
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发表时间：
2005-08
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影响因子：
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通讯作者：
Jin-ho Park;Sung-Ho Nam;Min-Yang Yang-Min-Yang-Yang-2379405
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文献类型：
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作者：
Jin-ho Park;Sung-Ho Nam;Min-Yang Yang-Min-Yang-Yang-2379405
提出了一种在机床基本长度单位（BLU）内补偿理想曲线与被插曲线之间插补误差的实时NURBS插补方法。参数曲线插补方法是基于曲线参数的泰勒级数展开和一种逼近。这种方法能够按照目标曲线生成有效的进给命令。然而，由于曲线分割所造成的插补误差是无法控制的，因此本研究提出一种两阶段插补方法，以补偿机器BLU内的插补误差。通过加速度/加加速度限制方程对插值结果进行滤波。通过对插补结果进行数值迭代重新评价的计算机仿真表明，该两阶段插补算法能够精确地插补出满足几何和动力学要求的目标曲线。该算法在数控仿真系统中实现，并进行了实验运行，以确定实时适应。
This paper deals with the real-time NURBS interpolation method in which the interpolation error between the ideal curve and the interpolated curve is compensated within the machine basic length unit (BLU). Parametric curve interpolation methods are based on the Taylor series expansion of curve parameters and an approximation. This approach enables effective feed command generation following the target curve. However, the interpolation error caused by the curve segmentation cannot be controlled.In this research, a two-stage interpolation method that compensates for interpolation errors within machine BLU is proposed. The interpolation result was filtered by an acceleration/jerk limitation equation. Through this two-stage interpolation, both the interpolation error condition and the motion dynamics can be satisfied.Using computer simulations in which interpolation results are revaluated by a numerical iteration method, it is shown that the two-stage interpolation algorithm can interpolate target curves precisely with geometric and dynamic contentment. The proposed algorithm was implemented in the CNC simulator system and an experimental run was conducted to identify the real-time adaptation.