Title :
Real-time coplanar NURBS curve fitting and interpolation for 6-DOF robot arm
Author :
Chin-Sheng Chen ; Shih-Kang Chen ; Cheng-Hsien Lai
Author_Institution :
Grad. Inst. of Autom. Technol., Nat. Taipei Univ. of Technol., Taipei, Taiwan
Abstract :
This paper proposes a real-time coplanar Non-Uniform Rational B-Spline (NURBS) curves fitting and interpolation for 6-DOF robot arm to improve the fitting and interpolation quality, and reduce the calculation effort. The process consists of (1) reading discrete points, (2) discrete points extraction, (3) curve fitting, (4) interpolation, and (5) inverse kinematics transformation. According to the simulation and experimental results, the proposed approach certainly raises the fitting and interpolation quality, and the efficiency of calculation.
Keywords :
curve fitting; interpolation; manipulators; splines (mathematics); 6-DOF robot arm; discrete points extraction; interpolation quality; inverse kinematics transformation; real-time coplanar NURBS curve fitting; real-time coplanar nonuniform rational B-spline curves fitting; Interpolation; Joints; Kinematics; Robots; Splines (mathematics); Surface reconstruction; Surface topography;
Conference_Titel :
Advanced Robotics and Intelligent Systems (ARIS), 2015 International Conference on
Conference_Location :
Taipei
DOI :
10.1109/ARIS.2015.7158368
