CAJ | 학술논문

针对J形坡口焊接机器人轨迹示教中理论轨迹与实际轨迹偏差较大的问题,利用实际轨迹的空间等距线逼近下一道焊接轨迹,并设计了相贯线轨迹等距线的B样条逼近算法. 算法主要包括:基于等曲线弧长准则对原B样条曲线取样;利用向心算法计算取样点的等距点;计算插值于该等距点的3次B样条曲线;在给定的全局误差限内去除多余控制顶点. 试验结果表明:等距点的向心算法可以有效解决相贯线曲线局部修改后主法向量发散的问题;全局插值方法可以保留原曲线修改特征;全局误差限下去除多余控制顶点可以减少B样条曲线控制顶点数目.
침대J형파구한접궤기인궤적시교중이론궤적여실제궤적편차교대적문제,이용실제궤적적공간등거선핍근하일도한접궤적,병설계료상관선궤적등거선적B양조핍근산법. 산법주요포괄:기우등곡선호장준칙대원B양조곡선취양;이용향심산법계산취양점적등거점;계산삽치우해등거점적3차B양조곡선;재급정적전국오차한내거제다여공제정점. 시험결과표명:등거점적향심산법가이유효해결상관선곡선국부수개후주법향량발산적문제;전국삽치방법가이보류원곡선수개특정;전국오차한하거제다여공제정점가이감소B양조곡선공제정점수목.
For the problem of the large deviation between the theoretical trajectory and the real trajectory of the J-groove joint welding robot during trajectory teaching, a solution is proposed using the offset spline of the real trajec-tory to approximate the next welding trajectory. An approximation algorithm for offset B-spline of intersecting splines is designed, which includes the following steps: sampling the original B-spline with the uniform curve arc length crite-rion; calculating the offset points of the sample points with the centripetal algorithm; fitting a cubic B-spline with global interpolation; removing most control points under the global error bound. The experimental results are as fol-lows: the centripetal algorithm could solve the problem of the divergence of the principal normal vectors after local modification on the intersecting curve; the algorithm of global interpolating could retain the modification features of the original trajectory; the algorithm of removing control points under global error bound could remove most control points effectively and reduce the number of control points of B-spline.