Look-ahead Interpolation Algorithm for Smooth Transition of Cartesian Space Trajectory
QIAN Wang
PAN Feng
Abstract：In order to solve the problem of frequent start and stop of six axis series industrial robot due to the non smooth tra-jectory in Cartesian space,a look-ahead interpolation algorithm based on cubic quasi uniform B-spline curve is proposed to achieve smooth trajectory transition and improve operation efficiency.The algorithm uses cubic quasi uniform B-spline curve as the transi-tion curve of adjacent trajectories in Cartesian space,the speed constraint of the transition curve is calculated according to the curva-ture of the transition curve,the appropriate connection speed is planned according to the length of each trajectory segment by using the speed foresight,and the asymmetric S-curve acceleration and deceleration control is adopted for each trajectory segment,The actual interpolation points are obtained by isochronous interpolation.The experimental results show that compared with the tradition-al algorithm,the algorithm can make the motion trajectory of the end effector of the six axis series industrial robot in Cartesian space more continuous and smooth,and the operation efficiency is effectively improved.
Keywords：six axis series industrial robotasymmetric S-curvecubic quasi uniform B-spline curvespeed foresightiso-chronous interpolation
Publication Date：2023-12-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 2784-2789 )