Drawing chinese character based on continuous path control of IRB140 industrial robot
Jianping Wang · Modern Manufacturing Engineering · 2010
Firstly designs a program to extract outline information of TTF under the Windows platform.Then beginning with two-dimensional situation,discusses the location interpolation and combined with the vector equation of spline curve,proposes the interpolation algorithm by the principles of same chord length.Secondly,for a given sphere,on which the posture interpolation is needed,calculates posture parameters of arbitrary point on the spherical surface by the rotation transformation of three-dimensional coordinate system.Finally,the robot comes to draw the results of Chinese characters.