Abstract: In order to solve the problems of excessive cutting when using robot program generated by classical Taylor interpolation algorithm to grind surfaces where curvature changed greatly, the researches of path interpolation algorithm for robot surface grinding on off-line programming system was carried out. Through comparing various interpolation methods, an optimized Taylor interpolation algorithm was proposed. In the region where the curvature of processing path changed greatly, cutting locations become dense to decrease chord error; where the processing paths were smooth, cutting locations become sparse to ensure processing efficiency. Comparative experiments between the algorithm and the classic interpolation algorithm prove the algorithm may increase machining quality.

Key words: robot, grinding, path, Taylor formula, interpolation

摘要： 为解决经典泰勒插补算法生成的加工轨迹在加工中产生的过切问题，在机器人打磨离线编程系统上进行了机器人打磨路径插补算法的研究。通过对比各种路径刀位点生成方法，提出一种改进的泰勒插补算法。该算法在加工路径曲率变化较大的区域刀位点自适应地致密，避免了弓高误差超差引起的过切；当加工路径较为平滑时，刀位点稀疏，保证加工效率。通过设计优化算法与经典算法的对比磨削试验，验证了该插补算法的有效性。

关键词: 机器人, 磨削, 路径, 泰勒公式, 插补