S-Velocity Profile of Industrial Robot Based on NURBS Curve and Slerp Interpolation

摘要

This paper presents a novel algorithm for industrial robot trajectory planning based on the NURBS(Non-Uniform Rational B-Spline) curve and Slerp interpolation aiming at the problems that the trajectory of a six-axis industrial robot is not smooth enough in the operation process, the posture planning process is non-uniform, and the six-axis industrial robot starts and stops frequently. Firstly, aiming at the first problem, the trajectory planning algorithm based on the NURBS curve is presented to improve the smoothness of the trajectory curve. Combined with Slerp posture planning based on quaternion description, which realizes the uniform change of posture on the robot’s end-effector. Secondly, aiming at the second problem, the S-velocity planning algorithm is presented in the interpolation interval of the robot, which realizes the operation process of complex curves continuously, and improves the operation quality. Finally, this paper uses Bernoulli’s lemniscate as the incentive trajectory, and the contrast experiment of trajectory planning between two incentive profiles is designed, which are the NURBS curve and the five-order polynomial curve. The result of the experiment indicates that the planning algorithm proposed in this paper could effectively improve the smoothness of trajectory in a Cartesian workspace, decrease the impact and tremulous in a Cartesian workspace, and effectively improve the performance of the robot working process. The results drawn from this paper lay a certain foundation for the future high-precision control of industrial robots.