Research on Interpolation Control of 6-DOF Water Cutting Robot
Keyword(s):
In order to get the exact water cutting of the complexity shape, the 6-DOF robot kinematics model is put forward. The gesture of every point can be calculated in real-time through NC interpolation algorithm of the expected discrete points on the track. On the basis of the matrix of position and gesture, a precise control method of 6-DOF water cutting robot trajectory and attitude of the end is proposed which comes from the improved NC-based code and could get any angle cutting surface, which is easy to program off-line. Finally, the simulation verity of NC interpolation control is made by VC and MATLAB tools.