实时插补加减速算法在嵌入式系统中的实现

摘要

In this paper,an improved algorithmfor T velocity curve and corresponding computingprocesses diagram and implementation scheme areproposed by research of the acceleration and decel-eration control in the interpolation based on thethree axial experimental embedded platform.Thisalgorithm can effectively reduce the redundantcomputation in comparison with traditional onesand subsequently improve the sensitivity of thesystem to variables of external environment.Thestability and effectiveness of this interpolation al-gorithm are proved through utilizing it in the plat-form and monitoring the performance.%基于三轴机械手的嵌入式实验平台，通过对插补运算中的加减速控制研究，提出了改进的T型速度曲线算法，并给出了改进后的运算流程与实现方案。算法能有效地减少传统算法中的冗余计算，提高系统对外界环境变量的灵敏度。通过在三轴桌面型机械手点胶系统中的使用与监测，证明了插补算法的正确性和稳定性。