NURBS (Non-Uniform Rational B-Spline) curve velocity interpolation method based on parameter encryption

NURBS (Non-Uniform Rational B-Spline) curve velocity interpolation method based on parameter encryption

The invention discloses an NURBS (Non-Uniform Rational B-Spline) curve velocity interpolation method based on parameter encryption, and belongs to the technical field of robot motion control. The NURBS curve velocity interpolation method comprises the steps of: calculating a node vector in an accumu...

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Hauptverfasser: DUAN JINJUN, BIN YIMING, YU ZHOUHANG, GUO CE, DAI ZHENDONG, LIU ZHENGQUAN, LI BINGRUI
Format: Patent
Sprache:chi ; eng
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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creator DUAN JINJUN
BIN YIMING
YU ZHOUHANG
GUO CE
DAI ZHENDONG
LIU ZHENGQUAN
LI BINGRUI
description The invention discloses an NURBS (Non-Uniform Rational B-Spline) curve velocity interpolation method based on parameter encryption, and belongs to the technical field of robot motion control. The NURBS curve velocity interpolation method comprises the steps of: calculating a node vector in an accumulated chord length parameterization manner, inversely calculating a control vertex through a type value point, positively calculating a parameter track through a control vertex, establishing a relation between a curve track parameter and an arc length parameter through a least square method, and performing track point selection in combination with a parameterization model and a T-shaped velocity interpolation model to realize T-shaped acceleration and deceleration variable motion control. The NURBS curve velocity interpolation method is scientific and reasonable. The parameterization model is used in parameter encryption of the NURBS curve, direct second-order derivation operation on the NURBS spline function is av
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subjects CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
title NURBS (Non-Uniform Rational B-Spline) curve velocity interpolation method based on parameter encryption
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