Velocity vector field construct for NURBS curve base on grid method

In order to transform the biaxial coordination control into the velocity control of single axis and eliminate the “radial reduction” phenomenon, a novel method of velocity field construction was employed. For line or circle contour following tasks, it is easy to construct the velocity field, whereas it is not the case for the free form contour following task. In order to cope with this problem, this thesis exploits the idea of direction field theory and grid point method. Finally, compare the contour error between the actual path which was encoded by the velocity vector field and the desired path. Simulation results show that the proposed approach indeed feasible.