A Direct Interpolation Algorithm of Small Line for the Discrete Interpolation Process
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摘要: 由于插补的离散化特性,微线段内很难实现梯形速度控制,并存在最后一个插补点与线段终点不重合问题。提出一种新的算法,以连续微线段为研究对象,从两端向中间进行线段端点速度前瞻,然后在预定点进行速度衔接处理。速度前瞻通过正向规划和反向验证使拐点速度达到最大,从而规划出微线段端点速度。根据微线段的端点速度和长度调用基于变插补周期的线段内速度规划,完成整个速度处理。仿真结果表明:该算法能够实现离散插补过程的梯形加减速并消除了插补残余长度。Abstract: In the discrete interpolation process, it' s difficult to realize trapezoidal velocity profile within a smallline, because the endpoint of the line can not be used as an interpolation point exactly. A new interpolation algorithm of small line is proposed in this paper to solve the above problems. In the algorithm, speed look-ahead startsfrom both the endpoints of the small line blocks to the middle, and speed-linking is implemented in the predetermined position. The transition speed can reach its peak value through forward planning and reverse confirming, andthen the speed of small line endpoints can be calculated. Finally according to the endpoint speed and length ofsmall lines, the whole speed processing can be accomplished by the method of small line speed planning based onvariable interpolation period. The simulation results demonstrate that the new algorithm can realize trapezoidal velocity profile in a discrete interpolation process and eliminates residual length of interpolation.
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Key words:
- interpolation /
- discrete /
- speed look-ahead /
- speed linking /
- variable interpolation period
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