Real-time coplanar NURBS curve fitting and interpolation for 6-DOF robot arm

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.