DocumentCode
722706
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
fYear
2015
fDate
29-31 May 2015
Firstpage
1
Lastpage
6
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics and Intelligent Systems (ARIS), 2015 International Conference on
Conference_Location
Taipei
Type
conf
DOI
10.1109/ARIS.2015.7158368
Filename
7158368
Link To Document