CN104238460A

CN104238460A - Workpiece collaborative machining method and system and collaborative control method and device

Info

Publication number: CN104238460A
Application number: CN201410438785.0A
Authority: CN
Inventors: 叶根
Original assignee: BEIJING PEITIAN TECHNOLOGY Co Ltd
Current assignee: BEIJING PEITIAN TECHNOLOGY Co Ltd
Priority date: 2014-08-29
Filing date: 2014-08-29
Publication date: 2014-12-24
Also published as: WO2016029875A1

Abstract

The invention discloses a workpiece collaborative machining method. The workpiece collaborative machining method comprises the steps that interpolation is carried out on the motion trail of a first mechanical unit in an objective coordinate system so that a first interpolation point can be obtained, and then the control angle of the first mechanical unit and a first workpiece coordinate system are obtained; interpolation is carried out on the motion trail of a second mechanical unit in the first workpiece coordinate system so that a second interpolation point corresponding to the interpolation moment can be obtained, and then the workpiece coordinates of the second interpolation point in the first workpiece coordinate system are obtained; the control angle of the second mechanical unit is obtained according to the workpiece coordinates of the second interpolation point; the first mechanical unit and the second mechanical unit are controlled to collaboratively machine a first workpiece at the interpolation moment according to the control angle of the first mechanical unit and the control angle of the second mechanical unit. The invention further discloses a workpiece collaborative machining system and a collaborative control method and device for multiple mechanical units. According to the workpiece collaborative machining method and system and the collaborative control method and device for multiple mechanical units, synchronous control over the multiple mechanical units can be easily achieved so that the machining efficiency can be improved, and practicability is high.

Description

A kind of Combined process method of workpiece, system and cooperative control method, device

Technical field

The present invention relates to industrial circle, particularly relate to cooperative control method, the device of a kind of Combined process method of workpiece, system and many machine assemblies.

Background technology

In the control of the machine assemblies such as industrial robot, multiple machine assembly coordinated is usually needed to complete a job task, such as: a robot captures a workpiece along with conveyer belt; An arc welding robot carries out arc-welding operation to a workpiece along with positioner motion, and a spot welding robot carries out spot welding operation etc. to being captured by another robot the workpiece also moved thereupon.In the application scenarios of above-mentioned multiple machine assembly, its common feature had is: a machine assembly carries workpiece and does a basic exercise, and another one machine assembly then superposes a motion again on the basis of workpiece motion s.Such as Fig. 1, machine assembly A carries workpiece C and walks an arc track 1, machine assembly B then also walks an arc track 2 relative to workpiece C, when machine assembly A, B move simultaneously, for world coordinate system, machine assembly B movement locus is now the complicated track 3 that arc track 1 superposes arc track 2 again.

In prior art, following control method is adopted usually for above-mentioned machine assembly B: the movement locus synthesizing the relative world coordinate system of mechanical unit B according to the movement locus of the movement locus of machine assembly A and workpiece coordinate system corresponding to machine assembly B opposite piece C, further interpolation is carried out to the movement locus of the relative world coordinate system of machine assembly B, to obtain the world coordinates of interpolated point in world coordinate system of machine assembly B, and then obtain the control angle of machine assembly B according to world coordinates.

Present inventor finds in long-term R & D, because machine assembly A walks a movement locus, machine assembly B also relative A walks a movement locus, machine assembly B will walk the Comlex-locus of a unknown geometric configuration relative to world coordinate system, the movement locus difficulty of therefore synthesizing the relative world coordinate system of mechanical unit B in prior art is comparatively large, and practicality is lower; In addition because machine assembly B is more complicated relative to the movement locus of world coordinate system, if world coordinate system carries out interpolation to the movement locus of this synthesis and obtains the position of machine assembly B in each interpolation moment relatively, thus ensure the movement locus of machine assembly B in the workpiece coordinate system moved with machine assembly A, then interpolation difficulty can be corresponding comparatively large, is namely difficult to the synchro control motion realizing machine assembly A, B.

Summary of the invention

The technical matters that the present invention mainly solves is to provide a kind of Combined process method of workpiece, system and cooperative control method, device, can comparatively change places realize multiple machine assembly synchro control to improve working (machining) efficiency, and practicality is higher.

For solving the problems of the technologies described above, first aspect present invention provides a kind of Combined process method of workpiece, comprise: interpolation is carried out to obtain the first interpolated point corresponding to interpolation moment to the movement locus of the first machine assembly in objective coordinate system, and then obtain the coordinate of the first interpolated point in objective coordinate system, wherein, objective coordinate is world coordinate system or the coordinate system static relative to world coordinate system; The control angle of the first machine assembly is obtained according to the coordinate of the first interpolated point in objective coordinate system; Obtain the first workpiece coordinate system according to the control angle of the first machine assembly, wherein, the first workpiece coordinate system is with the first workpiece for object of reference, and the first workpiece is fixed on the first machine assembly; Obtain the movement locus of at least one second machine assembly in the first workpiece coordinate system, wherein relative first workpiece motion s of the second machine assembly; Interpolation is carried out to obtain the second interpolated point corresponding to interpolation moment to the movement locus of the second machine assembly in the first workpiece coordinate system, and then obtains the workpiece coordinate of the second interpolated point in the first workpiece coordinate system; The control angle of the second machine assembly is obtained according to the workpiece coordinate of the second interpolated point; The interpolation moment control the first machine assembly according to the control angle of the control angle of the first machine assembly and the second machine assembly, the second machine assembly is collaborative processes the first workpiece.

Wherein, also comprise after the step of control angle obtaining the second machine assembly according to the workpiece coordinate of the second interpolated point: the control angle according to the second machine assembly obtains second workpiece coordinate system, wherein second workpiece coordinate system take second workpiece as object of reference, and second workpiece is fixed on the second machine assembly; Obtain the movement locus of at least one 3rd machine assembly in second workpiece coordinate system, the wherein relative second workpiece motion of the 3rd machine assembly; Interpolation is carried out to obtain the 3rd interpolated point corresponding to interpolation moment to the movement locus of the 3rd machine assembly in second workpiece coordinate system, and then obtains the workpiece coordinate of the 3rd interpolated point in second workpiece coordinate system; The control angle of the 3rd machine assembly is obtained according to the workpiece coordinate of the 3rd interpolated point; To control according to the control angle of the control angle of the first machine assembly, the control angle of the second machine assembly and the 3rd machine assembly in the interpolation moment that the first machine assembly, the second machine assembly and the 3rd machine assembly are collaborative to be processed the first workpiece, second workpiece.

Wherein, the step obtaining the control angle of the second machine assembly according to the workpiece coordinate of the second interpolated point specifically comprises: transform in world coordinate system by the workpiece coordinate of the second interpolated point, with the world coordinates that the workpiece coordinate obtaining the second interpolated point is corresponding; Further by the world coordinate transformation of the second interpolated point in the second base coordinate system of the second machine assembly, with the base coordinate that the world coordinates obtaining the second interpolated point is corresponding, wherein the second base coordinate with the second machine assembly for object of reference; The control angle of the second machine assembly is obtained according to the base coordinate of the second interpolated point.

Wherein, objective coordinate is world coordinate system, and the coordinate of the first interpolated point in objective coordinate system is world coordinates; The step obtaining the control angle of the first machine assembly according to the coordinate of the first interpolated point in objective coordinate system specifically comprises: by the world coordinate transformation of the first interpolated point in objective coordinate system in the first foundation coordinate system of the first machine assembly, with the base coordinate that the world coordinates obtaining the first interpolated point is corresponding, wherein first foundation coordinate system with the first machine assembly for object of reference; The control angle of the first machine assembly is obtained according to the base coordinate of the first interpolated point.

Wherein, objective coordinate is the workpiece coordinate system static relative to world coordinate system, and the coordinate of the first interpolated point in objective coordinate system is workpiece coordinate; The step obtaining the control angle of the first machine assembly according to the coordinate of the first interpolated point in objective coordinate system specifically comprises: transform in world coordinate system by the workpiece coordinate of the first interpolated point in objective coordinate system, with the world coordinates that the workpiece coordinate obtaining the first interpolated point is corresponding; By the world coordinate transformation of the first interpolated point in the first foundation coordinate system of the first machine assembly, with the base coordinate that the world coordinates obtaining the first interpolated point is corresponding, wherein first foundation coordinate system with the first machine assembly for object of reference; The control angle of the first machine assembly is obtained according to the base coordinate of the first interpolated point.

Wherein, the first machine assembly is any one in industrial robot, travelling belt or positioner, and the second machine assembly is industrial robot.

Wherein, control angle comprises the control angle of all axles of machine assembly.

For solving the problems of the technologies described above, second aspect present invention provides a kind of cooperative control method of many machine assemblies, comprise: interpolation is carried out to obtain the first interpolated point corresponding to interpolation moment to the movement locus of the first machine assembly in objective coordinate system, and then obtain the coordinate of the first interpolated point in objective coordinate system, wherein, objective coordinate is world coordinate system or the coordinate system static relative to world coordinate system; The control angle of the first machine assembly is obtained according to the coordinate of the first interpolated point in objective coordinate system; Obtain the first workpiece coordinate system according to the control angle of the first machine assembly, wherein, the first workpiece coordinate system is with the first workpiece for object of reference, and the first workpiece is fixed on the first machine assembly; Obtain the movement locus of at least one second machine assembly in the first workpiece coordinate system, wherein relative first workpiece motion s of the second machine assembly; Interpolation is carried out to obtain the second interpolated point corresponding to interpolation moment to the movement locus of the second machine assembly in the first workpiece coordinate system, and then obtains the workpiece coordinate of the second interpolated point in the first workpiece coordinate system; The control angle of the second machine assembly is obtained according to the workpiece coordinate of the second interpolated point.

For solving the problems of the technologies described above, third aspect present invention provides a kind of Combined process system of processing of workpiece, comprise: the first machine assembly, the Collaborative Control device of at least one second machine assembly and many machine assemblies, wherein the Collaborative Control device of many machine assemblies comprises: movement locus interpolation module, for carrying out interpolation to the movement locus of the first machine assembly in objective coordinate system to obtain the first interpolated point corresponding to interpolation moment, and then obtain the coordinate of the first interpolated point in objective coordinate system, wherein, objective coordinate is world coordinate system or the coordinate system static relative to world coordinate system, control angle acquisition module, for obtaining the control angle of the first machine assembly according to the coordinate of the first interpolated point in objective coordinate system, workpiece coordinate system acquisition module, for obtaining the first workpiece coordinate system according to the control angle of the first machine assembly, wherein, the first workpiece coordinate system is with the first workpiece for object of reference, and the first workpiece is fixed on the first machine assembly, movement locus acquisition module, for obtaining the movement locus of at least one second machine assembly in the first workpiece coordinate system, wherein relative first workpiece motion s of the second machine assembly, movement locus interpolation module also for carrying out interpolation to the movement locus of the second machine assembly in the first workpiece coordinate system to obtain the second interpolated point corresponding to interpolation moment, and then obtains the workpiece coordinate of the second interpolated point in the first workpiece coordinate system, control angle acquisition module is also for obtaining the control angle of the second machine assembly according to the workpiece coordinate of the second interpolated point, Combined process machining control module, for controlling according to the control angle of the control angle of the first machine assembly and the second machine assembly in the interpolation moment, the first machine assembly, the second machine assembly are collaborative to carry out processing to the first workpiece and processes.

For solving the problems of the technologies described above, fourth aspect present invention: the Collaborative Control device that a kind of many machine assemblies are provided, comprise: movement locus interpolation module, for carrying out interpolation to the movement locus of the first machine assembly in objective coordinate system to obtain the first interpolated point corresponding to interpolation moment, and then obtain the coordinate of the first interpolated point in objective coordinate system, wherein, objective coordinate is world coordinate system or the coordinate system static relative to world coordinate system; Control angle acquisition module, for obtaining the control angle of the first machine assembly according to the coordinate of the first interpolated point in objective coordinate system; Workpiece coordinate system acquisition module, for obtaining the first workpiece coordinate system according to the control angle of the first machine assembly, wherein, the first workpiece coordinate system is with the first workpiece for object of reference, and the first workpiece is fixed on the first machine assembly; Movement locus acquisition module, for obtaining the movement locus of at least one second machine assembly in the first workpiece coordinate system, wherein relative first workpiece motion s of the second machine assembly; Movement locus interpolation module also for carrying out interpolation to the movement locus of the second machine assembly in the first workpiece coordinate system to obtain the second interpolated point corresponding to interpolation moment, and then obtains the workpiece coordinate of the second interpolated point in the first workpiece coordinate system; Control angle acquisition module is also for obtaining the control angle of the second machine assembly according to the workpiece coordinate of the second interpolated point; Combined process control module, for controlling the first machine assembly in the interpolation moment according to the control angle of the control angle of the first machine assembly and the second machine assembly, the second machine assembly is collaborative processes the first workpiece.

The invention has the beneficial effects as follows: the situation being different from prior art, the present invention is by carrying out interpolation to the movement locus of the first machine assembly in objective coordinate system, thus obtain the control angle of the first machine assembly, then the first workpiece coordinate system and the movement locus of the second machine assembly in the first workpiece coordinate system is obtained according to the control angle of the first machine assembly, further interpolation is carried out to the movement locus of the second machine assembly in the first workpiece coordinate system, thus obtain the control angle of the second machine assembly, last according to the first machine assembly, the control angle of the second machine assembly controls the first machine assembly, second machine assembly is collaborative to be processed the first workpiece.Synthesize the movement locus of the second machine assembly due to present embodiment without the need to relative world coordinate system but directly interpolation carried out to the movement locus that the second machine assembly is positioned at the first workpiece coordinate system, the complexity of the control angle of the present invention's corresponding acquisition second machine assembly is lower, and can conveniently be applied in actual processing is that practicality is higher; In addition, the movement locus comparing synthesis due to the movement locus the second machine assembly being arranged in the first workpiece coordinate system is simpler, corresponding interpolation difficulty is less, comparatively can change places acquisition first machine assembly, the second machine assembly in the interpolated point position in same interpolation moment, therefore, it is possible to realize with comparalive ease the first machine assembly, the second machine assembly synchro control motion thus improve working (machining) efficiency.

Accompanying drawing explanation

Fig. 1 is the track schematic diagram that in prior art, two machine assemblies are processed workpiece;

Fig. 2 is the schematic flow sheet of Combined process method first embodiment of workpiece of the present invention;

Fig. 3 is the schematic flow sheet of the control angle obtaining the second machine assembly in Combined process method first embodiment of workpiece of the present invention according to the workpiece coordinate of the second interpolated point;

Fig. 4 is the schematic flow sheet of Combined process method second embodiment of workpiece of the present invention;

Fig. 5 is the motion dependence graph that in Combined process method second embodiment of workpiece of the present invention, each machine assembly is corresponding;

Fig. 6 is the schematic flow sheet of cooperative control method one embodiment of the many machine assemblies of the present invention;

Fig. 7 is the structural schematic block diagram of Combined process system one embodiment of workpiece of the present invention.

Embodiment

Below in conjunction with the accompanying drawing in embodiment of the present invention, be clearly and completely described the technical scheme in embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of protection of the invention.

Refer to Fig. 2, Combined process method first embodiment of workpiece of the present invention comprises:

Step S11: interpolation is carried out to obtain the first interpolated point corresponding to interpolation moment to the movement locus of the first machine assembly in objective coordinate system, and then obtains the coordinate of the first interpolated point in objective coordinate system.

Interpolation is carried out to obtain the first interpolated point corresponding to interpolation moment t to the movement locus of the first machine assembly in objective coordinate system, and then obtains the coordinate of the first interpolated point in objective coordinate system.Interpolation is according to some point on movement locus, the process of the interpolated point be positioned in the middle of known point is obtained according to interpolation algorithm, the interpolated point that interpolation moment t is corresponding is the location point moved at the tool center point (Tool Center Point, TCP) of interpolation moment t machine assembly; The such as Origin And Destination of known movement locus, obtains the interpolated point in the middle of Origin And Destination by interpolation.Machine assembly is the mechanical part that controller can control, such as, be industrial robot, positioner, travelling belt etc.

In present embodiment, above-mentioned objective coordinate system can be world coordinate system, and objective coordinate system also can be the coordinate system static relative to world coordinate system in other embodiments.World coordinates is that user specifies the coordinate system be connected with the earth, and in mechanical unit operations process, this coordinate system does not change.The coordinate system static relative to world coordinate system can be specially the static workpiece coordinate system of a relative world coordinate system, workpiece coordinate is the coordinate system be fixed on workpiece, it take workpiece as object of reference, and when workpiece pose changes, workpiece coordinate system is respective change also.

Step S12: the control angle obtaining the first machine assembly according to the coordinate of the first interpolated point in objective coordinate system.

For example, in present embodiment, objective coordinate system can be world coordinate system, and the coordinate of the first interpolated point in objective coordinate is specifically as follows world coordinates accordingly, and the process that this step obtains the control angle of the first machine assembly is specially:

According to the coordinate conversion relation between world coordinate system and base coordinate system by the world coordinate transformation of the first interpolated point in objective coordinate system in the first foundation coordinate system of the first machine assembly, with the base coordinate that the world coordinates obtaining the first interpolated point is corresponding.Wherein, first foundation coordinate system is with the first machine assembly for object of reference, and base coordinate is the coordinate system being positioned at machine assembly pedestal, and in the operating process of machine assembly, base coordinate system does not change, the corresponding base coordinate system of each machine assembly.

After the base coordinate of acquisition first interpolated point in first foundation coordinate system, further according to the inverse control angle separating acquisition first machine assembly of the base coordinate of the first interpolated point.

Step S13: obtain the first workpiece coordinate system according to the control angle of the first machine assembly.

Utilize positive kinematics to obtain the first workpiece coordinate system according to the control angle of the first machine assembly, wherein, the first workpiece coordinate system is with the first workpiece for object of reference, and the first workpiece is fixed on the first machine assembly.In the process of workpiece, the first machine assembly carries the first workpiece and moves, and it is what change that the first workpiece coordinate ties up to relative world coordinates in motion process.

Step S14: obtain the movement locus of at least one second machine assembly in the first workpiece coordinate system.

Require to obtain the movement locus of at least one second machine assembly in the first workpiece coordinate system according to the work pieces process such as start position, final position of work pieces process, relative first workpiece motion s of the second machine assembly is with to the processing accordingly of the first workpiece.

Step S15: interpolation is carried out to obtain the second interpolated point corresponding to interpolation moment to the movement locus of the second machine assembly in the first workpiece coordinate system, and then obtains the workpiece coordinate of the second interpolated point in the first workpiece coordinate system.

This step obtains the second interpolated point corresponding to same interpolation moment t and the workpiece coordinate of this second interpolated point in the first workpiece coordinate system by carrying out interpolation to the movement locus of the second machine assembly.The present invention carries out interpolation to the movement locus of the movement locus of the first machine assembly, the second machine assembly in same interpolation cycle, thus obtains the first interpolated point corresponding to same interpolation moment and the second interpolated point respectively.

Step S16: the control angle obtaining the second machine assembly according to the workpiece coordinate of the second interpolated point.

Refer to Fig. 3, the control angle that this step obtains the second machine assembly according to the workpiece coordinate of the second interpolated point specifically comprises following sub-step:

Sub-step S161: the workpiece coordinate of the second interpolated point is transformed in world coordinate system.

According to the coordinate conversion relation between workpiece coordinate system and world coordinate system, the workpiece coordinate of the second interpolated point in the first workpiece coordinate system is transformed in world coordinate system, with the world coordinates that the workpiece coordinate obtaining the second interpolated point is corresponding.

Sub-step S162: by the world coordinate transformation of the second interpolated point in the second base coordinate system of the second machine assembly.

Further according to the coordinate conversion relation between world coordinate system and base coordinate system by the world coordinate transformation of the second interpolated point in the second base coordinate system of the second machine assembly, with the base coordinate that the world coordinates obtaining the second interpolated point is corresponding, wherein the second base coordinate with the second machine assembly for object of reference.

Sub-step S163: the control angle obtaining the second machine assembly according to the base coordinate of the second interpolated point.

Finally according to the inverse control angle separating acquisition second machine assembly of the base coordinate of the second interpolated point.

Step S17: the interpolation moment control the first machine assembly according to the control angle of the first machine assembly, the control angle of the second machine assembly, the second machine assembly is collaborative processes the first workpiece.

After the control angle of acquisition first machine assembly, at least one second machine assembly, processing according to the control angle of the first machine assembly, the control angle of at least one second machine assembly controls the first machine assembly, at least one second machine assembly is worked in coordination with being fixed on the first machine assembly the first workpiece at interpolation moment t, namely controlling the first machine assembly, the second machine assembly is synchronized with the movement to process the first workpiece.Wherein, first machine assembly be specifically as follows in the machine assemblies such as industrial robot, positioner or travelling belt any one, second machine assembly can be industrial robot, in present embodiment, industrial robot is specially 6 shaft industrial robots, industrial robot also can be the serial or parallel connection industrial robot of other number of axle in other embodiments, does not make too many restrictions herein.The control angle of the first machine assembly, the second machine assembly specifically comprises the control angle of all axles of this machine assembly (joint), and such as, when the first machine assembly is 6 shaft industrial robot, the control angle of its correspondence comprises the control angle of 6 axles.

Below Combined process method first embodiment of workpiece of the present invention is illustrated: suppose there are two machine assemblies, wherein the first machine assembly A is positioner, second machine assembly B is arc welding robot, the flange face of A is fixed a workpiece C, workpiece C is the first workpiece, A carries workpiece C with reference to world coordinate system WobjA motion, the workpiece coordinate that workpiece C is corresponding is WobjC, WobjC is the first workpiece coordinate system, the movement locus of A in world coordinate system WobjA is TrajA, B moves with reference to the first workpiece coordinate system WobjC, the movement locus of B in the first workpiece coordinate system WobjC is TrajB.

First interpolation is carried out to obtain the first interpolated point At corresponding to current interpolation moment t to the movement locus TrajA of A, and then obtain the coordinate Wa of the first interpolated point At in world coordinate system, and then obtain the control angle Da of current interpolation moment t first machine assembly A according to the coordinate Wa of At; Then obtain the first workpiece coordinate system WobjC according to the control angle Da of A against solution, obtain the movement locus TrajB of the second machine assembly B in WobjC further; Then interpolation is carried out to obtain the second interpolated point Bt corresponding to current interpolation moment t to the movement locus TrajB of B, and then obtain the workpiece coordinate Wb of Bt in the first workpiece coordinate system WobjC; The control angle Db of B is obtained further according to workpiece coordinate Wb; Finally workpiece C is processed according to control angle Db control A, B of control angle Da, B of A are collaborative at current interpolation moment t.Namely controlling positioner in t carries while workpiece C carries out moving, and control arc welding robot and carry out arc-welding processing to workpiece C, the shifting movement of positioner and the arc-welding action of arc welding robot are carried out simultaneously.

Be appreciated that, Combined process method first embodiment of workpiece of the present invention carries out interpolation to the movement locus of the first machine assembly in objective coordinate system, thus obtain the control angle of the first machine assembly, then the first workpiece coordinate system and the movement locus of the second machine assembly in the first workpiece coordinate system is obtained according to the control angle of the first machine assembly, further interpolation is carried out to the movement locus of the second machine assembly in the first workpiece coordinate system, thus obtain the control angle of the second machine assembly, last according to the first machine assembly, the control angle of the second machine assembly controls the first machine assembly, second machine assembly is collaborative to be processed the first workpiece.Synthesize the movement locus of the second machine assembly due to present embodiment without the need to relative world coordinate system but directly interpolation carried out to the movement locus that the second machine assembly is positioned at the first workpiece coordinate system, the complexity of the control angle of the present invention's corresponding acquisition second machine assembly is lower, and can conveniently be applied in actual processing is that practicality is higher; In addition, the movement locus comparing synthesis due to the movement locus the second machine assembly being arranged in the first workpiece coordinate system is simpler, corresponding interpolation difficulty is less, comparatively can change places acquisition first machine assembly, the second machine assembly in the interpolated point position in same interpolation moment, therefore, it is possible to realize with comparalive ease the first machine assembly, the second machine assembly synchro control motion thus improve working (machining) efficiency.

Refer to Fig. 4, Combined process method second embodiment of workpiece of the present invention comprises:

Step S21: interpolation is carried out to obtain the first interpolated point corresponding to interpolation moment to the movement locus of the first machine assembly in objective coordinate system, and then obtains the coordinate of the first interpolated point in objective coordinate system.

In present embodiment, objective coordinate is the coordinate system static relative to world coordinate system, and further, the coordinate system static relative to world coordinate system is specially the static workpiece coordinate system of a relative world coordinate system.

Step S22: the control angle obtaining the first machine assembly according to the coordinate of the first interpolated point in objective coordinate system.

In present embodiment, the coordinate of the first interpolated point in objective coordinate is specially workpiece coordinate, and the process that this step obtains the control angle of the first machine assembly is specially:

According to the coordinate conversion relation between workpiece coordinate system and world coordinate system, the workpiece coordinate of the first interpolated point in objective coordinate system is transformed in world coordinate system, with the world coordinates that the workpiece coordinate obtaining the first interpolated point is corresponding.

According to the coordinate conversion relation between world coordinate system and base coordinate system by the world coordinate transformation of the first interpolated point in objective coordinate system in the first foundation coordinate system of the first machine assembly, with the base coordinate that the world coordinates obtaining the first interpolated point is corresponding.Wherein, first foundation coordinate system with the first machine assembly for object of reference.

Step S23: obtain the first workpiece coordinate system according to the control angle of the first machine assembly.

Step S24: obtain the movement locus of at least one second machine assembly in the first workpiece coordinate system.

Step S25: interpolation is carried out to obtain the second interpolated point corresponding to interpolation moment to the movement locus of the second machine assembly in the first workpiece coordinate system, and then obtains the workpiece coordinate of the second interpolated point in the first workpiece coordinate system.

Step S26: the control angle obtaining the second machine assembly according to the workpiece coordinate of the second interpolated point.

Step S27: the control angle according to the second machine assembly obtains second workpiece coordinate system.

Utilize positive kinematics to obtain second workpiece coordinate system according to the control angle of the second machine assembly, wherein second workpiece coordinate system take second workpiece as object of reference, and second workpiece is fixed on the second machine assembly.

Step S28: obtain the movement locus of at least one 3rd machine assembly in second workpiece coordinate system.

Wherein, the relative second workpiece motion of the 3rd machine assembly.

Step S29: interpolation is carried out to obtain the 3rd interpolated point corresponding to interpolation moment to the movement locus of the 3rd machine assembly in second workpiece coordinate system, and then obtains the workpiece coordinate of the 3rd interpolated point in second workpiece coordinate system.

Step S210: the control angle obtaining the 3rd machine assembly according to the workpiece coordinate of the 3rd interpolated point.

Step S211: to control according to the control angle of the control angle of the first machine assembly, the control angle of the second machine assembly and the 3rd machine assembly in the interpolation moment that the first machine assembly, the second machine assembly and the 3rd machine assembly are collaborative to be processed the first workpiece, second workpiece.

This step be the interpolation moment control the first machine assembly according to the control angle of the first machine assembly, the control angle of the second machine assembly, while the second machine assembly works in coordination with and process the first workpiece, according to the control angle of the second machine assembly, the control angle of the 3rd machine assembly controls the second machine assembly, the 3rd machine assembly is collaborative processes second workpiece.Wherein, the 3rd machine assembly is specially any one in the machine assemblies such as industrial robot, positioner or travelling belt; The control angle of machine assembly comprises the control angle of all axles of machine assembly.

Motion dependency tiee corresponding to each machine assembly of Combined process method second embodiment of workpiece of the present invention as shown in Figure 5, be positioned at the first machine assembly of the ground floor of this relational tree with reference to an objective coordinate system motion, the first workpiece coordinate system motion that at least one second machine assembly being positioned at this relational tree second layer carries with reference to the first machine assembly, the second workpiece coordinate system motion that at least one 3rd machine assembly being positioned at this relational tree third layer carries with reference to the second machine assembly.In addition in other embodiments, this relational tree also can comprise at least one 4th machine assembly etc., and the workpiece coordinate system that in like manner the 4th machine assembly carries with reference to the 3rd machine assembly moves.Interaction relation is had between machine assembly on same tree, when carrying out interpolation to movement locus, a breadth first traversal is carried out to this relational tree, according to carrying out interpolation to the order of lower floor to the movement locus of each machine assembly by upper strata thus obtaining each interpolated point corresponding to same interpolation moment in same interpolation cycle.

Be appreciated that, Combined process method second embodiment of workpiece of the present invention and the difference of a upper embodiment are, after the control angle of acquisition second machine assembly, second workpiece coordinate system and the movement locus in second workpiece coordinate system is obtained further according to the control angle of the second machine assembly, further interpolation is carried out to obtain the 3rd interpolated point corresponding to interpolation moment at the movement locus of second workpiece coordinate system at least one 3rd machine assembly, then the control angle of the 3rd machine assembly is obtained according to the workpiece coordinate of the 3rd interpolated point, finally control the first machine assembly according to control angle, second machine assembly and the 3rd machine assembly are worked in coordination with the first workpiece, second workpiece is processed, present embodiment compares the Combined process that an embodiment can realize the machine assembly of more multi-layered sub-quantity, and can comparatively change places equally realize multiple machine assembly synchro control to improve working (machining) efficiency, practicality is higher.

Refer to Fig. 6, cooperative control method one embodiment of the many machine assemblies of the present invention comprises:

Step S31: interpolation is carried out to obtain the first interpolated point corresponding to interpolation moment to the movement locus of the first machine assembly in objective coordinate system, and then obtains the coordinate of the first interpolated point in objective coordinate system.

Wherein, objective coordinate is world coordinate system or the coordinate system static relative to world coordinate system.

Step S32: the control angle obtaining the first machine assembly according to the coordinate of the first interpolated point in objective coordinate system.

Step S33: obtain the first workpiece coordinate system according to the control angle of the first machine assembly.

Wherein, the first workpiece coordinate system is with the first workpiece for object of reference, and the first workpiece is fixed on the first machine assembly.

Step S34: obtain the movement locus of at least one second machine assembly in the first workpiece coordinate system.

Wherein, relative first workpiece motion s of the second machine assembly.

Step S35: interpolation is carried out to obtain the second interpolated point corresponding to interpolation moment to the movement locus of the second machine assembly in the first workpiece coordinate system, and then obtains the workpiece coordinate of the second interpolated point in the first workpiece coordinate system.

Step S36: the control angle obtaining the second machine assembly according to the workpiece coordinate of the second interpolated point.

Be appreciated that, cooperative control method one embodiment of the many machine assemblies of the present invention carries out interpolation to the movement locus of the first machine assembly in objective coordinate system, thus obtain the control angle of the first machine assembly, then the first workpiece coordinate system and the movement locus of the second machine assembly in the first workpiece coordinate system is obtained according to the control angle of the first machine assembly, finally interpolation is carried out to the movement locus of the second machine assembly in the first workpiece coordinate system, thus obtain the control angle of the second machine assembly.Synthesize the movement locus of the second machine assembly due to present embodiment without the need to relative world coordinate system but directly interpolation carried out to the movement locus that the second machine assembly is positioned at the first workpiece coordinate system, the complexity of the control angle of the present invention's corresponding acquisition second machine assembly is lower, and can conveniently be applied in actual processing is that practicality is higher; In addition, the movement locus comparing synthesis due to the movement locus the second machine assembly being arranged in the first workpiece coordinate system is simpler, corresponding interpolation difficulty is less, comparatively can change places acquisition first machine assembly, the second machine assembly in the interpolated point position in same interpolation moment, therefore, it is possible to realize the synchro control of the first machine assembly, the second machine assembly with comparalive ease.

Refer to Fig. 7, Combined process system one embodiment of workpiece of the present invention comprises:

The Collaborative Control device 43 of the first machine assembly 41, at least one second machine assembly 42 and many machine assemblies.The Collaborative Control device 43 of many machine assemblies specifically comprises movement locus interpolation module, control angle acquisition module, workpiece coordinate system acquisition module, movement locus acquisition module and Combined process control module, and each module concrete function is as described below:

Movement locus interpolation module, for carrying out interpolation to the movement locus of the first machine assembly in objective coordinate system to obtain the first interpolated point corresponding to interpolation moment, and then obtain the coordinate of the first interpolated point in objective coordinate system, wherein, objective coordinate is world coordinate system or the coordinate system static relative to world coordinate system.

Control angle acquisition module, the coordinate of the first interpolated point in objective coordinate system for obtaining according to movement locus interpolation module obtains the control angle of the first machine assembly.

Workpiece coordinate system acquisition module, control angle for the first machine assembly obtained according to control angle acquisition module obtains the first workpiece coordinate system, wherein, the first workpiece coordinate system is with the first workpiece for object of reference, and the first workpiece is fixed on the first machine assembly.

Movement locus acquisition module, for obtaining the movement locus in the first workpiece coordinate system that at least one second machine assembly obtains at workpiece coordinate system acquisition module, wherein relative first workpiece motion s of the second machine assembly.

Movement locus interpolation module also for carrying out interpolation to the movement locus of the second machine assembly in the first workpiece coordinate system to obtain the second interpolated point corresponding to interpolation moment, and then obtains the workpiece coordinate of the second interpolated point in the first workpiece coordinate system.

Control angle acquisition module is also for obtaining the control angle of the second machine assembly according to the workpiece coordinate of the second interpolated point.

Combined process control module, controls the first machine assembly for the control angle of the first machine assembly that obtains according to control angle acquisition module in the interpolation moment and the control angle of the second machine assembly, the second machine assembly is collaborative processes the first workpiece.

Particularly, movement locus interpolation module carries out interpolation to obtain the first interpolated point corresponding to interpolation moment t to the movement locus of the first machine assembly in objective coordinate system, and then obtains the coordinate of the first interpolated point in objective coordinate system.Interpolation is according to some point on movement locus, the process of the interpolated point be positioned in the middle of known point is obtained according to interpolation algorithm, the interpolated point that interpolation moment t is corresponding is the location point moved at the tool center point (Tool Center Point, TCP) of interpolation moment t machine assembly; The such as Origin And Destination of known movement locus, obtains the interpolated point in the middle of Origin And Destination by interpolation.Machine assembly is the mechanical part that controller can control, such as, be industrial robot, positioner, travelling belt etc.

Then, control angle acquisition module according to the coordinate conversion relation between world coordinate system and base coordinate system by the world coordinate transformation of the first interpolated point in objective coordinate system in the first foundation coordinate system of the first machine assembly, with the base coordinate that the world coordinates obtaining the first interpolated point is corresponding.Wherein, first foundation coordinate system is with the first machine assembly for object of reference, and base coordinate is the coordinate system being positioned at machine assembly pedestal, and in the operating process of machine assembly, base coordinate system does not change, the corresponding base coordinate system of each machine assembly.Control angle acquisition module after the base coordinate of acquisition first interpolated point in first foundation coordinate system, further according to the inverse control angle separating acquisition first machine assembly of the base coordinate of the first interpolated point.

Obtain the control angle of the first machine assembly at control angle acquisition module after, workpiece coordinate system acquisition module utilizes positive kinematics to obtain the first workpiece coordinate system according to the control angle of the first machine assembly, wherein, first workpiece coordinate system is with the first workpiece for object of reference, and the first workpiece is fixed on the first machine assembly.In the process of workpiece, the first machine assembly carries the first workpiece and moves, and it is what change that the first workpiece coordinate ties up to relative world coordinates in motion process.

Movement locus acquisition module requires to obtain the movement locus of at least one second machine assembly in the first workpiece coordinate system according to the work pieces process such as start position, final position of work pieces process, and relative first workpiece motion s of the second machine assembly is with to the processing accordingly of the first workpiece.

Movement locus interpolation module obtains the second interpolated point corresponding to same interpolation moment t and the workpiece coordinate of this second interpolated point in the first workpiece coordinate system by carrying out interpolation to the movement locus of the second machine assembly.The present invention carries out interpolation to the movement locus of the movement locus of the first machine assembly, the second machine assembly in same interpolation cycle, thus obtains the first interpolated point corresponding to same interpolation moment and the second interpolated point respectively.

Control angle acquisition module obtains the control angle of the second machine assembly according to the workpiece coordinate of the second interpolated point.Particularly, the workpiece coordinate of the second interpolated point in the first workpiece coordinate system first transforms in world coordinate system according to the coordinate conversion relation between workpiece coordinate system and world coordinate system, with the world coordinates that the workpiece coordinate obtaining the second interpolated point is corresponding by control angle acquisition module.Then, further according to the coordinate conversion relation between world coordinate system and base coordinate system by the world coordinate transformation of the second interpolated point in the second base coordinate system of the second machine assembly, with the base coordinate that the world coordinates obtaining the second interpolated point is corresponding, wherein the second base coordinate with the second machine assembly for object of reference.After obtaining base coordinate, control angle acquisition module is again according to the inverse control angle separating acquisition second machine assembly of the base coordinate of the second interpolated point.

Be appreciated that, the Combined process system of the workpiece in present embodiment carries out interpolation by movement locus interpolation module to the movement locus of the first machine assembly in objective coordinate system, thus make control angle acquisition module obtain the control angle of the first machine assembly, then movement locus interpolation module obtains the first workpiece coordinate system according to workpiece coordinate system acquisition module according to the control angle of the first machine assembly, and the movement locus of the second machine assembly in the first workpiece coordinate system that movement locus acquisition module gets, further interpolation is carried out to the movement locus of the second machine assembly in the first workpiece coordinate system, thus make control angle acquisition module obtain the control angle of the second machine assembly, last Combined process control module is according to the first machine assembly, the control angle of the second machine assembly controls the first machine assembly, second machine assembly is collaborative to be processed the first workpiece.Synthesize the movement locus of the second machine assembly due to present embodiment without the need to relative world coordinate system but directly interpolation carried out to the movement locus that the second machine assembly is positioned at the first workpiece coordinate system, the complexity of the control angle of the present invention's corresponding acquisition second machine assembly is lower, and can conveniently be applied in actual processing is that practicality is higher; In addition, the movement locus comparing synthesis due to the movement locus the second machine assembly being arranged in the first workpiece coordinate system is simpler, corresponding interpolation difficulty is less, comparatively can change places acquisition first machine assembly, the second machine assembly in the interpolated point position in same interpolation moment, therefore, it is possible to realize with comparalive ease the first machine assembly, the second machine assembly synchro control motion thus improve working (machining) efficiency.

In another embodiment, the Combined process system of the workpiece of present embodiment comprises movement locus interpolation module, control angle acquisition module, workpiece coordinate system acquisition module, movement locus acquisition module and Combined process control module,

Movement locus interpolation module is used for carrying out interpolation to obtain the first interpolated point corresponding to interpolation moment to the movement locus of the first machine assembly in objective coordinate system, and then the coordinate of acquisition the first interpolated point in objective coordinate system.

Control angle acquisition module is used for the control angle obtaining the first machine assembly according to the coordinate of the first interpolated point in objective coordinate system.Particularly, according to the coordinate conversion relation between workpiece coordinate system and world coordinate system, the workpiece coordinate of the first interpolated point in objective coordinate system is transformed in world coordinate system, with the world coordinates that the workpiece coordinate obtaining the first interpolated point is corresponding.Then, control angle acquisition module also for according to the coordinate conversion relation between world coordinate system and base coordinate system by the world coordinate transformation of the first interpolated point in objective coordinate system in the first foundation coordinate system of the first machine assembly, with the base coordinate that the world coordinates obtaining the first interpolated point is corresponding.Wherein, first foundation coordinate system with the first machine assembly for object of reference.Control angle acquisition module after the base coordinate of acquisition first interpolated point in first foundation coordinate system, further according to the inverse control angle separating acquisition first machine assembly of the base coordinate of the first interpolated point.

Workpiece coordinate system acquisition module is used for obtaining the first workpiece coordinate system according to the control angle of the first machine assembly.

Movement locus acquisition module is for obtaining the movement locus of at least one second machine assembly in the first workpiece coordinate system.

Interpolation is carried out to obtain the second interpolated point corresponding to interpolation moment to the movement locus of the second machine assembly in the first workpiece coordinate system, and then obtains the workpiece coordinate of the second interpolated point in the first workpiece coordinate system.

Movement locus interpolation module interpolation module also obtains second workpiece coordinate system for the control angle according to the second machine assembly.

Movement locus acquisition module is also for obtaining the movement locus of at least one 3rd machine assembly in second workpiece coordinate system.Wherein, the relative second workpiece motion of the 3rd machine assembly.

Movement locus interpolation module carries out interpolation to obtain the 3rd interpolated point corresponding to interpolation moment to the movement locus of the 3rd machine assembly in second workpiece coordinate system, and then obtains the workpiece coordinate of the 3rd interpolated point in second workpiece coordinate system.

Control angle acquisition module obtains the control angle of the 3rd machine assembly according to the workpiece coordinate of the 3rd interpolated point.

Combined process control module to control according to the control angle of the control angle of the first machine assembly, the control angle of the second machine assembly and the 3rd machine assembly in the interpolation moment that the first machine assembly, the second machine assembly and the 3rd machine assembly are collaborative to be processed the first workpiece, second workpiece.Be the interpolation moment control the first machine assembly according to the control angle of the first machine assembly, the control angle of the second machine assembly, while the second machine assembly works in coordination with and process the first workpiece, according to the control angle of the second machine assembly, the control angle of the 3rd machine assembly controls the second machine assembly, the 3rd machine assembly is collaborative processes second workpiece.Wherein, the 3rd machine assembly is specially any one in the machine assemblies such as industrial robot, positioner or travelling belt; The control angle of machine assembly comprises the control angle of all axles of machine assembly.

Motion dependency tiee corresponding to each machine assembly of the Combined process decorum of workpiece of the present invention as shown in Figure 5, be positioned at the first machine assembly of the ground floor of this relational tree with reference to an objective coordinate system motion, the first workpiece coordinate system motion that at least one second machine assembly being positioned at this relational tree second layer carries with reference to the first machine assembly, the second workpiece coordinate system motion that at least one 3rd machine assembly being positioned at this relational tree third layer carries with reference to the second machine assembly.In addition in other embodiments, this relational tree also can comprise at least one 4th machine assembly etc., and the workpiece coordinate system that in like manner the 4th machine assembly carries with reference to the 3rd machine assembly moves.Interaction relation is had between machine assembly on same tree, when carrying out interpolation to movement locus, a breadth first traversal is carried out to this relational tree, according to carrying out interpolation to the order of lower floor to the movement locus of each machine assembly by upper strata thus obtaining each interpolated point corresponding to same interpolation moment in same interpolation cycle.

Be appreciated that, the Combined process system of the workpiece of present embodiment and the difference of a upper embodiment are, obtain the control angle of the second machine assembly at control angle acquisition module after, movement locus acquisition module obtains second workpiece coordinate system and the movement locus in second workpiece coordinate system according to the control angle of the second machine assembly further, movement locus interpolation module carries out interpolation to obtain the 3rd interpolated point corresponding to interpolation moment at least one 3rd machine assembly at the movement locus of second workpiece coordinate system further, then control angle acquisition module obtains the control angle of the 3rd machine assembly according to the workpiece coordinate of the 3rd interpolated point, last Combined process control module controls the first machine assembly according to control angle, second machine assembly and the 3rd machine assembly are worked in coordination with the first workpiece, second workpiece is processed, present embodiment compares the Combined process that an embodiment can realize the machine assembly of more multi-layered sub-quantity, and can comparatively change places equally realize multiple machine assembly synchro control to improve working (machining) efficiency, practicality is higher.

In another embodiment, present embodiment provides a kind of many machine assemblies cooperative control system, comprises movement locus interpolation module, control angle acquisition module, workpiece coordinate system acquisition module, movement locus acquisition module and Combined process control module,

Movement locus interpolation module is used for carrying out interpolation to obtain the first interpolated point corresponding to interpolation moment to the movement locus of the first machine assembly in objective coordinate system, and then the coordinate of acquisition the first interpolated point in objective coordinate system.Wherein, objective coordinate is world coordinate system or the coordinate system static relative to world coordinate system.

Control angle acquisition module is used for the control angle obtaining the first machine assembly according to the coordinate of the first interpolated point in objective coordinate system.

Workpiece coordinate system acquisition module is used for obtaining the first workpiece coordinate system according to the control angle of the first machine assembly.Wherein, the first workpiece coordinate system is with the first workpiece for object of reference, and the first workpiece is fixed on the first machine assembly.

Movement locus acquisition module is for obtaining the movement locus of at least one second machine assembly in the first workpiece coordinate system.Wherein, relative first workpiece motion s of the second machine assembly.

Movement locus interpolation module is used for carrying out interpolation to obtain the second interpolated point corresponding to interpolation moment to the movement locus of the second machine assembly in the first workpiece coordinate system, and then the workpiece coordinate of acquisition the second interpolated point in the first workpiece coordinate system.

Be appreciated that, the movement locus interpolation module of the cooperative system of many machine assemblies of present embodiment carries out interpolation to the movement locus of the first machine assembly in objective coordinate system, thus obtain the control angle of the first machine assembly, then movement locus acquisition module obtains the first workpiece coordinate system and the movement locus of the second machine assembly in the first workpiece coordinate system according to the control angle of the first machine assembly, last movement locus interpolation module carries out interpolation to the movement locus of the second machine assembly in the first workpiece coordinate system, thus obtain the control angle of the second machine assembly.Synthesize the movement locus of the second machine assembly due to present embodiment without the need to relative world coordinate system but directly interpolation carried out to the movement locus that the second machine assembly is positioned at the first workpiece coordinate system, the complexity of the control angle of the present invention's corresponding acquisition second machine assembly is lower, and can conveniently be applied in actual processing is that practicality is higher; In addition, the movement locus comparing synthesis due to the movement locus the second machine assembly being arranged in the first workpiece coordinate system is simpler, corresponding interpolation difficulty is less, comparatively can change places acquisition first machine assembly, the second machine assembly in the interpolated point position in same interpolation moment, therefore, it is possible to realize the synchro control of the first machine assembly, the second machine assembly with comparalive ease.

Processing the foregoing is only embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.

Claims

1. a Combined process method for workpiece, is characterized in that, comprising:

Interpolation is carried out to obtain the first interpolated point corresponding to interpolation moment to the movement locus of the first machine assembly in objective coordinate system, and then obtain the coordinate of described first interpolated point in described objective coordinate system, wherein, described objective coordinate is world coordinate system or the coordinate system static relative to world coordinate system;

The control angle of described first machine assembly is obtained according to the coordinate of described first interpolated point in described objective coordinate system;

Control angle according to described first machine assembly obtains the first workpiece coordinate system, and wherein, described first workpiece coordinate system is with described first workpiece for object of reference, and described first workpiece is fixed on described first machine assembly;

Obtain the movement locus of at least one second machine assembly in described first workpiece coordinate system, relatively described first workpiece motion s of wherein said second machine assembly;

Interpolation is carried out to obtain the second interpolated point corresponding to described interpolation moment to the movement locus of described second machine assembly in described first workpiece coordinate system, and then obtains the workpiece coordinate of described second interpolated point in described first workpiece coordinate system;

The control angle of described second machine assembly is obtained according to the workpiece coordinate of described second interpolated point;

The described interpolation moment control described first machine assembly according to the control angle of the control angle of described first machine assembly and described second machine assembly, described second machine assembly is collaborative processes described first workpiece.

2. method according to claim 1, is characterized in that:

Also comprise after the described workpiece coordinate according to described second interpolated point obtains the step of the control angle of described second machine assembly:

Control angle according to described second machine assembly obtains second workpiece coordinate system, and wherein said second workpiece coordinate system is with described second workpiece for object of reference, and described second workpiece is fixed on described second machine assembly;

Obtain the movement locus of at least one 3rd machine assembly in described second workpiece coordinate system, the relatively described second workpiece motion of wherein said 3rd machine assembly;

Interpolation is carried out to obtain the 3rd interpolated point corresponding to described interpolation moment to the movement locus of described 3rd machine assembly in second workpiece coordinate system, and then obtains the workpiece coordinate of described 3rd interpolated point in described second workpiece coordinate system;

The control angle of described 3rd machine assembly is obtained according to the workpiece coordinate of described 3rd interpolated point;

To control according to the control angle of the control angle of described first machine assembly, the control angle of the second machine assembly and the 3rd machine assembly in the described interpolation moment that the first machine assembly, the second machine assembly and the 3rd machine assembly are collaborative to be processed the first workpiece, second workpiece.

3. method according to claim 1, is characterized in that, the step that the described workpiece coordinate according to described second interpolated point obtains the control angle of described second machine assembly specifically comprises:

The workpiece coordinate of described second interpolated point is transformed in world coordinate system, with the world coordinates that the workpiece coordinate obtaining described second interpolated point is corresponding;

Further by the world coordinate transformation of described second interpolated point in the second base coordinate system of described second machine assembly, with the base coordinate that the world coordinates obtaining described second interpolated point is corresponding, wherein said second base coordinate with described second machine assembly for object of reference;

The control angle of described second machine assembly is obtained according to the base coordinate of described second interpolated point.

4. method according to claim 1, is characterized in that:

Described objective coordinate is world coordinate system, and the coordinate of described first interpolated point in described objective coordinate system is world coordinates;

The step of the described control angle according to coordinate acquisition described first machine assembly of described first interpolated point in described objective coordinate system specifically comprises:

By the world coordinate transformation of described first interpolated point in described objective coordinate system in the first foundation coordinate system of described first machine assembly, with the base coordinate that the world coordinates obtaining described first interpolated point is corresponding, wherein said first foundation coordinate system with described first machine assembly for object of reference;

The control angle of described first machine assembly is obtained according to the base coordinate of described first interpolated point.

5. method according to claim 1, is characterized in that:

Described objective coordinate is the workpiece coordinate system static relative to world coordinate system, and the coordinate of described first interpolated point in described objective coordinate system is workpiece coordinate;

The workpiece coordinate of described first interpolated point in described objective coordinate system is transformed in world coordinate system, with the world coordinates that the workpiece coordinate obtaining described first interpolated point is corresponding;

By the world coordinate transformation of described first interpolated point in the first foundation coordinate system of described first machine assembly, with the base coordinate that the world coordinates obtaining described first interpolated point is corresponding, wherein said first foundation coordinate system with described first machine assembly for object of reference;

6. the method according to claim 1-5 any one, is characterized in that,

Described first machine assembly is any one in industrial robot, travelling belt or positioner, and described second machine assembly is industrial robot.

7. the method according to claim 1-5 any one, is characterized in that,

Described control angle comprises the control angle of all axles of machine assembly.

8. a cooperative control method for machine assembly more than, is characterized in that, comprising:

The control angle of described second machine assembly is obtained according to the workpiece coordinate of described second interpolated point.

9. a Combined process system for workpiece, is characterized in that, comprising:

The Collaborative Control device of the first machine assembly, at least one second machine assembly and many machine assemblies, the Collaborative Control device of wherein said many machine assemblies comprises:

Movement locus interpolation module, for carrying out interpolation to the movement locus of the first machine assembly in objective coordinate system to obtain the first interpolated point corresponding to interpolation moment, and then obtain the coordinate of described first interpolated point in described objective coordinate system, wherein, described objective coordinate is world coordinate system or the coordinate system static relative to world coordinate system;

Control angle acquisition module, for obtaining the control angle of described first machine assembly according to the coordinate of described first interpolated point in described objective coordinate system;

Workpiece coordinate system acquisition module, for obtaining the first workpiece coordinate system according to the control angle of described first machine assembly, wherein, described first workpiece coordinate system is with described first workpiece for object of reference, and described first workpiece is fixed on described first machine assembly;

Movement locus acquisition module, for obtaining the movement locus of at least one second machine assembly in described first workpiece coordinate system, relatively described first workpiece motion s of wherein said second machine assembly;

Described movement locus interpolation module also for carrying out interpolation to the movement locus of described second machine assembly in described first workpiece coordinate system to obtain the second interpolated point corresponding to described interpolation moment, and then obtains the workpiece coordinate of described second interpolated point in described first workpiece coordinate system;

Described control angle acquisition module is also for obtaining the control angle of described second machine assembly according to the workpiece coordinate of described second interpolated point;

Combined process control module, for controlling described first machine assembly in the described interpolation moment according to the control angle of the control angle of described first machine assembly and described second machine assembly, described second machine assembly is collaborative processes described first workpiece.

10. a Collaborative Control device for machine assembly more than, is characterized in that, comprising: