Synthesis interpolation algorithm line segment for planning trajectory of confluent two-tier mechanism

Abstract

Synthesis interpolation algorithm line segment for planning trajectory of confluent two-tier mechanism

Gorlin O.A., Dugin Yu.A., Podorov S.V., Skripkin D.A., Naumov I.I.

Considered original interpolation method of the working tool path using confluent two-unit manipulator. This method is based on the separation of the links on the master and slave and the use of polar coordinates to determine the incremental rotation of angle units. It is adapted for use calculating hardware with floating point.

Keywords: two-tier mechanism, circular interpolation, the kinematic model, floating point operations, the static accuracy of interpolation