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Received:September 21, 2012 Revised:November 13, 2012
Received:September 21, 2012 Revised:November 13, 2012
中文摘要: 针对空间相贯曲线轨迹控制的复杂性和特殊性, 研究一种新型空间相贯曲线插补算法. 通过建立相贯曲线的数学模型, 提出了由直线轴和旋转轴组成的非笛卡尔坐标中的相贯曲线轨迹直接插补和速度控制算法, 并对算法进行仿真. 仿真结果表明, 所提出的相贯曲线轨迹插补算法具有较高的轨迹控制精度和速度稳定性, 具有良好的应用前景.
Abstract:The trajectory control of spatial intersected curve has great complexity and particularity. To solve this problem, a new trajectory interpolation algorithm of spatial intersected curve is proposed in this paper. Through building the mathematical model of the curve, a direct interpolation and speed control algorithm is developed in a non-cartesian coordinate system with linear axis and rotation axis. The simulation results show that the algorithm has high trajectory precision and speed stability with well application prospects.
keywords: spatial intersected curve interpolation algorithm motion controller speed stability computer control system
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基金项目:国家高技术研究发展计划(863)(2012AA041307);山东大学自主创新基金(2011JC013)
引用文本：
陈雪,宋锐,樊铭渠,田新诚.空间相贯曲线轨迹控制与仿真.计算机系统应用,2013,22(4):116-120
CHEN Xue,SONG Rui,FAN Ming-Qu,TIAN Xin-Cheng.Trajectory Control of Spatial Intersected Curves.COMPUTER SYSTEMS APPLICATIONS,2013,22(4):116-120
陈雪,宋锐,樊铭渠,田新诚.空间相贯曲线轨迹控制与仿真.计算机系统应用,2013,22(4):116-120
CHEN Xue,SONG Rui,FAN Ming-Qu,TIAN Xin-Cheng.Trajectory Control of Spatial Intersected Curves.COMPUTER SYSTEMS APPLICATIONS,2013,22(4):116-120
