Drawing System for Six-axis Robot Manipulator Based on B-Spline Curves

• Main Authors: Yi-Jiun Shen, 沈宜郡
• Other Authors: Ching-Chang Wong
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/04904437376456746042

碩士 === 淡江大學 === 電機工程學系碩士班 === 101 === In this thesis, a drawing system for a six-axis robot manipulator based on the B-Spline curves algorithm is designed and implemented. It can let the users can quickly and effectively design a required smooth curve to fit the desired graph and a six-axis robot manipulator named ABB IRB 120 can really draw this graph. Because the B-Spline curves algorithm just utilize few control points to generate curves and can arbitrarily change the local shape of the curve, the drawing system based on the B-Spline curves algorithm is constructed. First, a software platform used on PC is designed with MATLAB so that the users can add or move control points to let the curves meet the desired graph. When the user determines some satisfied curves based on the B-Spline curves algorithm, the position coordinates of control points can be obtained from the software platform. Then the position information of control points is the input data of the Flex Pendant of the ABB, where the matrix B- Spline curves algorithm is used to let the six-axis robot manipulator to accomplish the curve drawing work and the plotted graph is the same as that designed by the user on the software platform. In comparison with the traditional point-to-point method and the inherent circular movement method of the ABB robot manipulator, the drawing system built in this thesis can indeed quickly and efficiently let the robot manipulator draw the desired graph. Moreover, some coordinate transformation formula are used to let the graph can be plotted on a specified 3D surface.