A tolerance constrained robot path circular interpolation method for industrial SCARA robots

The linear robot path is tangential and curvature discontinuity, which will lead to vibration and unnecessary hesitation during execution. Local corner transition method and local spline interpolation method are used in state-of-art industrial robot controller to reduce vibration, while local corner transition method cannot interpolate target points and local spline interpolation method cannot constrain chord errors. This research proposes a robot path local interpolation method that eliminates deficiencies of each method. The smoothing method satisfies all of the following requirements: G1 continuity, target point interpolation and chord tolerance confined, shape-preserving (free of self-intersection), and unified parameterization. The generated smooth path consists of linear path and circular arc path with G1 continuity. A geometric iterative method cooperating with local corner transition method is used to generate local interpolation path. Simulations and actual experiments verify the generated smooth path is G1 continuous, tolerance constrained, shape-preserving, and have high computational efficiency.

Fast georeferencing/geocoding tool for old maps with large distortions

<p><strong>Abstract.</strong> Maps created before the 17th century often have large distortions which make it useless to force them into any modern map projection by georeferencing. In a local scope, however, they preserve spatial relationships between map objects, therefore, using an appropriate control point set and local interpolation it is possible to define a quite accurate connection between the old and a modern map.</p><p> Additionally, researchers in the past decades created long lists of settlements of these maps, often without any geometric information but matching most places with present day settlements.</p><p> The author developed a web application to help geocoding these lists and at the same time to create an accurate georeferenced of the corresponding old maps. This tool displays the old map and a recent web map parallel, without forcing the projection of the web map to the old one. The user can load settlement lists, perform a bulk geocoding based on present day names. The geocoded places appear on the new map, and any of these points can be also placed on the old map, defining a control point pair. After setting enough control points, all the other place names can be automatically placed by local interpolation based on the control points. The place positions can be refined manually by the user, which will improve the accuracy of the automatic placement as well.</p>