CAJ | 학술논문

工业机器人的控制系统是封闭且独立的，通过示教方式来在线编程是很难完成复杂的曲线运动，效率较低。为此在工件面型图像中对待加工轨迹进行规划，根据三次B样条曲线插值算法对规划好的加工路径轨迹进行数据处理，通过离线编程把加工轨迹数据点格式转换成机器人程序文件，把复杂的曲线运动分解成直线运动和圆弧运动，从而实现工业机器人的复杂曲线运动。实验过程中机器人运动流畅没有停顿，实际运动轨迹和规划运动轨迹吻合得很好，证明该方法有效可行。
공업궤기인적공제계통시봉폐차독립적，통과시교방식래재선편정시흔난완성복잡적곡선운동，효솔교저。위차재공건면형도상중대대가공궤적진행규화，근거삼차B양조곡선삽치산법대규화호적가공로경궤적진행수거처리，통과리선편정파가공궤적수거점격식전환성궤기인정서문건，파복잡적곡선운동분해성직선운동화원호운동，종이실현공업궤기인적복잡곡선운동。실험과정중궤기인운동류창몰유정돈，실제운동궤적화규화운동궤적문합득흔호，증명해방법유효가행。
It is difficult and inefficient for an industrial robot to move along a particular complex track by teaching programming, for the control system is closed and independent. Thus, waiting process trajectory is planned in the image of workpiece surface. According to cubic B-spline interpolation algorithm, it needs some data processing to the planned trajectory path. Then, the format of data points converts to robot lan-guage by off-line programming. Complex curvilinear motion of industrial robot divides to linear motion and circular motion. During the experiment, the robot moves smoothly, and actual trajectory and planning traj-ectory are highly consistent. And the experimental results prove that the method is feasible.