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本文介绍一种仅用次数较少的乘法就可以实现的空间圆弧快速插补法。由于用递推方法把须计算的三角函数值限制在较小的范围内,从而避免了三角函数运算,大大缩短了计算时间。文中还分析了算法引起的误差和给出了算法的使用条件。根据本文算法编制的汇编语言程序已在Z—8000微计算机上通过,计算结果表明本算法的精度和速度都可以满足控制连续轨迹运动机械手的要求。
This article describes a fast circular interpolation method that can be implemented using only a few multiplications. Because of the recursion method to be calculated trigonometric function value is limited to a small range, thus avoiding the trigonometric function operation, greatly reducing the calculation time. The paper also analyzes the error caused by the algorithm and gives the conditions for the use of the algorithm. The assembly language program compiled according to this algorithm has been passed on the Z-8000 microcomputer. The calculation results show that the accuracy and speed of this algorithm can meet the requirement of controlling the continuous track robot.