摘要
本文设计了用于镜片检测工序的SCARA机械臂系统并对其抓取镜片的轨迹规划进行了研究.搭建机械臂硬件系统并对比使用三次多项式插值算法和五次多项式插值法算法进行轨迹规划.实验结果表明五次多项式插值算法对机械臂运行冲击更小.
In this paper,a SCARA manipulator system for lens inspection process is designed and the trajectory planning of its grasping lens is studied.The hardware system of the manipulator is built and the trajectory planning is carried out by using the cubic polynomial interpolation algorithm and the quintic polynomial interpolation algorithm.The experimental results show that the quintic polynomial interpolation algorithm has less impact on the operation of the manipulator.
作者
崔鼎
郝南海
郭阳宽
CUI Ding;HAO Nan-hai;Guo Yang-kuan(School of Mechanical and Electrical Engineering,Beijing University of Information Technology,Beijing 100192)
出处
《数字技术与应用》
2020年第6期163-164,共2页
Digital Technology & Application
关键词
镜片检测
机械臂
轨迹规划
多项式插值
lens detection
manipulator
trajectory planning
polynomial interpolation
