An improved algorithm of three B-spline

curve interpolation and simulation

Cite as: AIP Conference Proceedings 1820, 080004 (2017); https://doi.org/10.1063/1.4977360
Published Online: 13 March 2017

Wanjun Zhang, Dongmei Xu, Xinhong Meng, et al.

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AIP Conference Proceedings 1820, 080004 (2017); https://doi.org/10.1063/1.4977360 1820, 080004

© 2017 Author(s).
 An Improved Algorithm of Three B-Spline Curve
Interpolation and Simulation
Wanjun Zhang 1, 2, 3, a), Dongmei Xu 1, b), Xinhong Meng 1, c) and Feng Zhang 2, d)
1
Quanzhou Institute of Information Engineering, 36200, China;
2
School of Mechanical Engineering, Xian Jiao tong University, 741049, China;
3
Lanzhou Industry and Equipment Co., Ltd., Lanzhou 730050, China.
a)
gszwj_40@163.com
b)
xdm33@163.com
c)
meng2008xinhong@126.com
d)
116543048@qq.com

Abstract. As a key interpolation technique in CNC system machine tool, three B-spline curve interpolator has been
proposed to change the drawbacks caused by linear and circular interpolator, Such as interpolation time bigger, three B-
spline curves step error are not easy changed ,and so on. This paper an improved algorithm of three B-spline curve
interpolation and simulation is proposed. By Using MATALAB 7.0 computer soft in three B-spline curve interpolation is
developed for verifying the proposed modification algorithm of three B-spline curve interpolation experimentally .The
simulation results show that the algorithm is correct; it is consistent with a three B-spline curve interpolation requirements.

Key words: CNC; Three B-spline curve; Improved interpolation algorithm; Simulation; Analysis.

INTRODUCTION
In CAD/CAM field, the three B-spline curve is widely used in CAM method to solve the problems associated with
the preferred and NURBS curves. [1-4]. Three B-spline curves exist many drawbacks ,such as interpolation time
bigger, three B-spline curves step error are not easy changed .Three B-spline curves has many character [5-9]: Three
B-spline curves can give a unified mathematical representation for surface part of curves . In recent years, many kinds
of three B-spline curves interpolation methods have been proposed in the papers. Lanzhou University of technology
researchers [10-12] proposed a modification algorithm of three B-spline curve interpolation technology which based
on real-time interpolation and adaptive interpolation. Shpitalni et al. [13] derived the same interpolation algorithm by
using Taylor’s expansion. Houng and Yang [14] were given Cubic spline curve interpolator by using Euler algorithm.
In this paper, on the basis of the above research, an improved algorithm of three B-spline curve interpolation and
simulation is presented. The simulation results show that the algorithm is correct; it is consistent with a three B-spline
curve interpolation requirements.

THREE B-SPLINE CURVES

Supposed p (u)
i
can be represented three B-spline curves. While three B-spline curve [3] are parametrically
mathematical definition by the following Eq.(1):

p (u) B
i i 3
˜ u 3  B i 2 ˜ u 2  B i 1 ˜ u  B i
(1)

Advances in Materials, Machinery, Electronics I

AIP Conf. Proc. 1820, 080004-1–080004-6; doi: 10.1063/1.4977360
Published by AIP Publishing. 978-0-7354-1488-4/$30.00

080004-1
 Where u is Three B-spline curve each parameter, u  >0,1@ , B i is a set of coefficients vector.
The coefficient matrix is satisfied with the coefficient matrix, and the relation is as follows (2);

-1 -1
ª¬ B iˈ
Bi1ˈBi2ˈBi3º¼ M ª¬d ˈd
k i k
* d i º¼
ˈˈ
i  k 1
(2)

Where , ^d i` is the control points , M k is expressed matrix equation.

Mathematical expression p(u ) > x(u), y(u), z(u)@ (3)

CORRECTION ALGORITHM OF THREE B-SPLINE CURVE INTERPOLATION

According to the parameter u at t t and the first-order, second-order derivate of function u

i i i 1
with t , so, we
can also calculate u i 1 at t t by Taylor’s expansion as equation(4).
i 1

cc ( )(  )2
u (t ) u (t )  u c (t )(t  t )T
i 1 i i i i i
 ui ti t ti  R 3(t ) (T t i 1
 t i) (4)
2!

u 3 ([ )(t  t i )3
Where, R (t )
3
, [  (t , t i ) , R 3(t ) is Lagrange Remainder.
3!

cc 2
cT  u i T  (5)
u i 1 ui ui

2! R 3(t )

When, T o 0 , exist T 3 o 0 , R 3(t ) o 0 .

So, we can also get Two Taylor’s expansion as equation (5).

u ccT 2 (6)
u i 1 u i
 u cT 
2!

pc (u) > x(u)c@  > y(u)c@  > z(u)c@

2 2 2
Where, ,
i
So, we can also get one Taylor’s expansion as equation (7)

d
dt - F (u i ) ^> xc(u ) @ ˜ > xcc(u ) @`  ^> yc(u ) @ ˜ > ycc(u ) @`  ^> z c(u ) @ ˜ > z cc(u ) @`
F (u i ) 2
d 2u
ucc dt 2 d p(u )
3 (7)
d p (u ) 2
du 2
du
dF (u i )
dt F 2 (u i ) ^> xc(u )@ ˜ > xcc(u ) @`  ^> yc(u ) @ ˜ > ycc(u ) @`  ^> z c(u ) @ ˜ > z cc(u ) @`
 3
> x(u )c@  > y(u )c@  > z (u )c@
2 2 2
> x(u )c@  > y(u )c@  > z (u )c@
2 2 2

The first-order Taylor’s expansion as equation (8)

080004-2
 u (t ) u (t )  u c (t )(t  t )T u
i 1 i i i i
ui
(8)

If we can been given feed speed is F (u i ) , there has

d p (u ) d p (u) du
F (u i ) i i (9)
dt du dt

d p (u )i
Where, can be represented as follows:
du

d p (u )
> x(u)c@  > y(u)c@  > z(u)c@
i 2 2 2
(10)
du

Where, First-order expansion of Taylor formula

F (u i ) ˜ T
u i 1 u+ (11)
> x(u)c@  > y(u)c@  > z(u)c@
i 2 2 2

The second-order expansion of Taylor formula

dF (u i )
F (u i ) ˜ T T2
ucc 2 dt
u i 1 u  ucT  T =u i  + (12)
> x(u)c@  > y(u)c@  > z(u)c@ > x(u)c@  > y(u)c@  > z(u)c@
i
u u i 2! u ui
2 2 2 2 2 2

F (u i ) ˜ T ^> xc(u )@ ˜ > xcc(u )@`  ^> yc(u ) @ ˜ > ycc(u ) @`  ^> z c(u ) @ ˜ > z cc(u ) @`
2 2

 3
> x(u )c@  > y(u )c@  > z (u )c@
2 2 2

When F (u i ) ˜ T is ignored, Eq. (14) into the Eq.(13)

F (u i ) ˜ T
u i 1 u (13)
> x(u)c@  > y(u)c@  > z (u )c@
i 2 2 2

Where, 'u is expressed Eq.(14)

F (u i ) ˜ T F (u ) ˜ T
'u u i 1
ui (14)
> x(u)c@  > y(u)c@  > z(u)c@
2 2 2 2
x y
2 2
i
  zi
i

From Eq.(14), Eq.(2),we should get x(u ) , y(u ) , z (u ) , Three B-spline curves interpolation should be finished.

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 SIMULATION AND ANALYSIS
In this simulation[15-17] , three B-spline curve interpolation scheme is realized on the motion controller developed
by our own lab, based on DSP TMS20C543,Development environment is a PC with AMD Sempron 3,200+2.1Ghz
CPU,8GB RAM, and main frequency is 1.44MHz,machine tool is CNC machine center. Our own lab and machine
part are shown in Figure.2 and in Figure.3.
In the paper, an improved algorithm of three B-spline curve interpolation is simulated under the environment of
Visual VB 6.0combined with MATALAB 7.0 by computer, three B-spline curve interpolation points as follows:
B i ^^0,0,0` ,^1,1, 2`,^2,1, 2`, ^3,1.5, 2`, ^3, 2, 2.5`, ^3.5,3,3`` .

FIG. 1: Figure of Our Own Lab

FIG. 2: Figure of machine part

The interpolation of three B-spline curve parameters are as follows: Interpolation time T = 0.002s , Interpolation
federate F (u i ) 300mm / s , instruction acceleration and jerk a max 48000mm / s .
3

By Using MATALAB 7.0 computer soft in three B-spline curve interpolation, as shown in Figure 3 and Figure 4,
and Table 1.

080004-4
 20

z/ mm
10
0
2 2
0 0
y/ mm -2 -2
x/ mm
FIG. 3: Three B-spline curve interpolation

20

z/ mm
10
0
5 5
0 0
y/ mm -5 -5
x/ mm
FIG. 4: Improved algorithm of three B-spline curve interpolation

TABLE 1. Table analysis of interpolation of NURBS curve results

Interpolation time (s) Max step error (mm) Max step error (mm)

Three B-spline curve interpolation 2.8894 0.90801 0.512

Improved algorithm of three B-
2.55 0.79801 0.36
spline curve interpolation

As can be seen from Fig. 1, Fig. 2, and table 1, in the process of improved algorithm of three B-spline curve
interpolation , interpolation time reduced , max step error and min step error too deceased, It can be seen that correction
algorithm of Three B-spline curve interpolation is feasible and efficient.

SUMMARY
In this paper an improved algorithm of three B-spline curve interpolation is introduced. The algorithm has merits
such as short processing time and so on. The simulation results show that the algorithm is correct; it is consistent with
a three B-spline interpolation requirements.

ACKNOWLEDGEMENTS
The authors thank the financial supports from National Natural Science Foundation of China (Grant no. 51165024)
and Science and Technology Major Project of “High-grade NC Machine Tools and Basic Manufacturing Equipment”
(2010ZX040001-181).

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