Author(s)

Chao Li, Gongbing Su, Tianxiang Liu

Corresponding Author

Chao Li

ABSTRACT

Aiming at solving the difficulty problem of the trajectory planning of the cylindrical space curve, a method is proposed for reconstructing the interpolation space curve of three-dimensional coordinates of accurate target points of cylindrical surface, and the discrete continuous space curve is obtained. In order to obtain the pose change matrix of discrete curves, the forward tangential method is used to calculate the curve tangent vector. Then, the curve normal vector is calculated by using the center coordinate of the bottom surface of the cylinder and the precise target point projection of the curved surface, the curvature vector is obtained by the cross-multiplication of the right-hand rule, thereby forming a cosine matrix whose cylindrical curved surface changes direction. The three-dimensional coordinates of the center of the cylinder and the precise target point of the cylindrical surface are used as the position change vector of the measurement curve, thus constructing the homogeneous matrix of the variation curve. The MATLAB simulation shows that the pose homogeneous matrix constructed by this method has good trajectory follow-ability and attitude change continuity, which provides technical support for the next step of planning robot machining space curve.

KEYWORDS

3D reconstruction, Spatial curve fitting, Discrete difference algorithm, Pose matrix