Gaoping Xu, Hao Zhang, Zhuo Meng and Yize Sun
The purpose of this paper is to propose an automatic interpolation algorithm for robot spraying trajectories based on cubic Non-Uniform Rational B-Splines (NURBS) curves, to solve…
Abstract
Purpose
The purpose of this paper is to propose an automatic interpolation algorithm for robot spraying trajectories based on cubic Non-Uniform Rational B-Splines (NURBS) curves, to solve the problem of sparse and incomplete trajectory points of the head and heel of the shoe sole when extracting robot motion trajectories using structured-light 3D cameras and to ensure the robot joints move smoothly, so as to achieve a good effect of automatic spraying of the shoe sole with a 7-degree-of-freedom (DOF) robot.
Design/methodology/approach
Firstly, the original shoe sole edge trajectory position points acquired by the 3D camera are fitted with NURBS curves. Then, the velocity constraint at the local maximum of the trajectory curvature is used as the reference for curve segmentation and S-shaped acceleration and deceleration planning. Immediately, real-time interpolation is performed in the time domain to obtain the position and orientation of each point of the robot motion trajectory. Finally, the inverse kinematics of the anthropomorphic motion of the 7-DOF robot arm is used to obtain the joint motion trajectory.
Findings
The simulation and experiment prove that the shoe sole spraying trajectory is complete, the spraying effect is good and the robot joint movement is smooth, which show that the algorithm is feasible.
Originality/value
This study is of good practical value for improving the quality of automated shoe sole spraying, and it has wide applicability for different shoe sole shapes.
Details
Keywords
New (post‐1949) Chinese local gazetteers are one of the major primary resources for contemporary China Studies in the field of history, social sciences, humanities and sciences…
Abstract
Purpose
New (post‐1949) Chinese local gazetteers are one of the major primary resources for contemporary China Studies in the field of history, social sciences, humanities and sciences. Major research libraries in North America have collected them; however, the research value of this series of publications has not yet fully explored. This paper aims at examining how new local gazetteers have been compiled, the scope of their content and research value, and how scholars have used them.
Design/methodology/approach
The paper explores the scope and importance of the new Chinese local gazetteers collection through reviewing relevant regulations, policies and guidelines regarding compilation of the new local gazetteers, and randomly examining over 30 provincial, city and county gazetteers.
Findings
The paper provides a detailed account of publishing history of this collection; rich and unique research information available; and approaches to collection development, including utilizing digitized gazetteers by Chinese governments.
Originality/value
The paper explores the development of new Chinese local gazetteers in a more systematic way and adds to the current literature on the unique research value this collection has to offer.