NURBS Curve Fitting and Interpolation for 6-DOF Manipulator

• Main Authors: Wen-Sheng Liang, 梁文聲
• Other Authors: Chin-Sheng Chen
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/qw6jc7

碩士 === 國立臺北科技大學 === 自動化科技研究所 === 102 === This thesis proposes the systematic design of NURBS curve fitting and interpolation for 6-DOF manipulator, which includes: (1) Space filtering for discrete points, (2) Discrete points extraction; (3) NURBS curve Fitting; (4) Kinematics and inverse of kinematics for manipulator. The continuity of the desired surface and the mechanical limitations corresponding to the motion trajectory are considered to get the optimal trajectory. Then, the servo commands of 6-DOF manipulator will be generated by inverse kinematics to get the excellent servo response. Since the discrete points from measure devices will yield the non-continuity in the desired surface and the roughness of work piece will be degraded when these datum are applied to generate the cutting path, this thesis proposes the spatial filtering for discrete points to overcome the drawback. Furthermore, the discrete points extraction algorithm will reduce the computation load because some discrete points will be removed under the cord error specification. In experiment, the proposed algorithms are evaluated on ITRI’s 6-DOF manipulator which is controlled by Intelligent Motion Platform (IMP). The servo responses of 6 axes are captured to calculate the actual trajectory by forward kinematics. The experimental results show the proposed algorithms are effective to improve the computation load and sustain the similar tracking performance.