CN104698971B - Operation track obtaining method and device - Google Patents

Operation track obtaining method and device Download PDF

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Publication number
CN104698971B
CN104698971B CN201510070053.5A CN201510070053A CN104698971B CN 104698971 B CN104698971 B CN 104698971B CN 201510070053 A CN201510070053 A CN 201510070053A CN 104698971 B CN104698971 B CN 104698971B
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point
workpiece
coordinate
operating point
movement
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CN104698971A (en
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马泽
汪洁萍
于恒基
陈志强
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Jack Technology Co Ltd
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Jack Sewing Machine Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37392—Motion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37436—Prediction of displacement, relative or absolute, motion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

The invention aims at providing an operation track obtaining method and device. A coordinate system is established in a predetermined workpiece moving space, all edge points of a workpiece in the coordinate system, at least one edge point serves as an alignment point, and a first operation point is defined on the workpiece; an external control point is defined in the workpiece moving space; the operation device operates the workpiece to move at the first operation point, wherein the movement is that the workpiece performs translation to the alignment point to be coincide with the external control point; or under the situation that the alignment point coincides with the external control point, the workpiece performs rotation or further translation around the external control point; coordinate transforming is performed in the workpiece moving process to obtain a moving track of the operation device in the operating process so as to obtain a moving track of the operation device in the operating process. The operation track obtaining method and device are simple and easy to operate and high in accuracy.

Description

A kind of operation trace acquisition methods and device
Technical field
The present invention relates to technical field of robot control, more particularly to a kind of operation trace acquisition methods and device.
Background technology
In the industry of existing robot application, such as clothing, it is artificial to replace to apply substantial amounts of robot, therefore machine How the control of device people reaches precise and high efficiency turns into the target that manufacturer is pursued all the time, in robot control, in order to test Whether card robot moves accurately, and essential meeting removes the motion track of recorder people and to its adjusting and optimizing, but at present Not relatively good track acquisition modes.
The content of the invention
The shortcoming of prior art in view of the above, it is an object of the invention to provide a kind of operation trace acquisition methods and Device, solves various defects of the prior art.
To realize above-mentioned target and other related objectives, the present invention provides a kind of operation trace acquisition methods, for obtaining Motion track during operation device operation workpiece, methods described includes：Coordinate system is set up in predetermined workpiece mobile space, Each marginal point of workpiece is defined in the coordinate system and using the marginal point of wherein at least one as snap point, and in workpiece definition the One operating point；External control point is defined in the workpiece mobile space；The operation device is operated in first operating point The workpiece movement, the movement includes：Workpiece translational motion to the snap point and external control point overlaps；And, described right In the case that neat point and external control point overlap, workpiece is rotated around the external control point；Carry out workpiece moving process To obtain motion track of the operation device during operating the workpiece to move, it includes coordinate transformation：Before translation Alignment point coordinates and external control point coordinates obtain translation vector；If corresponding to the second operating point after the translation of the first operating point, The second operation point coordinates after translation is calculated according to translation vector and the first operation point coordinates, is grasped with the translation for obtaining operation device Make track；In the case where the workpiece is rotated around the external control point, the rotational angle of workpiece, the rotation are obtained Angle is：When the second operating point is by described turning to up to three operating points, the second operating point and external control point line With the angle between the 3rd operating point and external control point line；Row interpolation is entered by default interpolation precision to the angle, to obtain The coordinate of the multiple interpolation points on the track that second operating point reaches the 3rd operating point is obtaining the rotation of operation device Operation trace.
Optionally, described operation trace acquisition methods, also include：Each described marginal point for obtaining workpiece carries out the shifting Coordinate after dynamic.
Optionally, described operation trace acquisition methods, the external control point is located on default normal, the workpiece Upper each two marginal point constitutes a line segment；Each rotation be the workpiece is turned to make its edge one described in line segment Overlapped with the normal, the rotational angle of the workpiece is to turn to the rotational angle that same normal overlaps by calculating the line segment And obtain.
Optionally, described operation trace acquisition methods, also include：Calculate first operating point and move to the second operation First coordinate amount of movement of point；Calculate the second coordinate amount of movement that second operating point turns to the 3rd operating point；With reference to institute The first coordinate amount of movement and the second coordinate amount of movement are stated to calculate total amount of movement；The shifting of workpiece is calculated according to total amount of movement Dynamic distance；The time of the 3rd operating point and the displacement of the workpiece for being calculated are moved to reference to first operating point, are calculated The translational speed at workpiece opposite outer control point.
Optionally, the coordinate system includes：X-axis, Y-axis, Z axis and U axles, wherein, the U axles are rotary shafts, are with angle Unit.
To realize above-mentioned target and other related objectives, the present invention provides a kind of operation trace acquisition device, for obtaining Motion track during operation device operation workpiece, the operation trace acquisition device includes：Coordinate definition unit and coordinate transformation Unit；The coordinate definition unit, for setting up coordinate system in predetermined workpiece mobile space, defines in the coordinate system Each marginal point of workpiece and using the marginal point of wherein at least one as snap point, and workpiece define the first operating point；Described External control point is defined in workpiece mobile space；The operation device operates the workpiece movement, institute in first operating point Stating movement includes：Workpiece translational motion to the snap point and external control point overlaps；And, in the snap point and external control point In the case of coincidence, workpiece is rotated around the external control point；The coordinate transformation unit, is moved through for carrying out workpiece The coordinate transformation of journey to obtain motion track of the operation device during operating the workpiece to move, wherein, the coordinate Conversion includes：Translation vector is obtained according to the alignment point coordinates before translation and external control point coordinates；If the first operating point is translated After correspond to the second operating point, according to translation vector and first operation point coordinates calculate translation after second operation point coordinates, with Obtain the translation track of operation device；In the case where the workpiece is rotated around the external control point, work is obtained The rotational angle of part, the rotational angle is：When the second operating point is by described turning to up to three operating points, the second behaviour Make point and external control point line with the angle between the 3rd operating point and external control point line；Default interpolation is pressed to the angle Precision enters row interpolation, with obtain second operating point reach the 3rd operating point track on multiple interpolation points coordinate with Obtain the rotating operation track of operation device.
Optionally, the coordinate transformation unit, be additionally operable to obtain workpiece each described marginal point carry out the movement after Coordinate.
Optionally, the external control point is located on default normal, each two marginal point structure being aligned on the workpiece Section；Each rotation be the workpiece is turned to make its edge one described in line segment overlapped with the normal, the work The rotational angle of part is to turn to rotational angle that same normal overlaps by calculating the line segment and obtain.
Optionally, described operation trace acquisition device also includes：Workpiece translational speed acquiring unit, it is described for calculating First operating point moves to the first coordinate amount of movement of the second operating point, calculates second operating point and turns to the 3rd operating point The second coordinate amount of movement, with reference to the first coordinate amount of movement and the second coordinate amount of movement to calculate total amount of movement, according to Total amount of movement calculates the displacement of workpiece, and time and the institute of the 3rd operating point are moved to reference to first operating point The displacement of the workpiece of calculating calculates the translational speed at workpiece opposite outer control point.
Optionally, the coordinate system includes：X-axis, Y-axis, Z axis and U axles, wherein, the U axles are rotary shafts, are with angle Unit.
As described above, it is an object of the invention to provide a kind of operation trace acquisition methods and device, in predetermined workpiece Coordinate system is set up in mobile space, each marginal point of the workpiece is defined in the coordinate system and is made the marginal point of wherein at least one It is snap point, and the first operating point is defined in workpiece；External control point is defined in the workpiece mobile space；The operation dress Put and operate the workpiece to move in first operating point, the movement includes：Workpiece translational motion to the snap point and outside is controlled System point overlaps；, workpiece rotated around the external control point or translated again；The coordinate transformation of workpiece moving process is carried out to obtain To motion track of the operation device in the operating process, so as to obtain operation device motion track in operation； The present invention is simple and easy to apply, and precision is high.
Brief description of the drawings
Fig. 1 is shown as the schematic flow sheet of operation trace acquisition methods in one embodiment of the invention.
Fig. 2 is shown as the schematic flow sheet that a step of operation trace acquisition methods in one embodiment of the invention is included.
Fig. 3 a are shown as the Computing Principle schematic diagram of translation in one embodiment of the invention.
Fig. 3 b are shown as the Computing Principle schematic diagram of rotating operation in one embodiment of the invention.
Fig. 4 is shown as the structural representation of operation trace acquisition device in one embodiment of the invention.
Component label instructions
1 operation trace acquisition device
11 coordinate definition units
12 coordinate transformation units
S1~S2 method and steps
S21~S24
Specific embodiment
Embodiments of the present invention are illustrated below by way of specific instantiation, those skilled in the art can be by this specification Disclosed content understands other advantages of the invention and effect easily.The present invention can also be by specific realities different in addition The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints with application, without departing from Various modifications or alterations are carried out under spirit of the invention.It should be noted that, in the case where not conflicting, the embodiment in the application And the feature in embodiment can be mutually combined.
As shown in figure 1, the present invention provides a kind of operation trace acquisition methods, for obtaining during operation device operation workpiece Motion track, in such as sewing operation, the workpiece is, for example, sewing cloth, and the operation device is, for example, mechanical arm etc.；.
Methods described includes：
Step S1：Coordinate system is set up in predetermined workpiece mobile space, the workpiece is defined in the coordinate system each Marginal point and using the marginal point of wherein at least one as snap point, and workpiece define the first operating point；Move empty in the workpiece It is interior to define external control point.
In one embodiment, the space coordinates are, for example, four axles (such as X transverse axis, the Y longitudinal axis, Z upper and lower axles, U rotary shafts) Coordinate system, axle where operation device is U axles, in fact, space coordinates can only have three axles, this " U axles " is another The outer imaginary axis defined with angle as scale, is used to provide angle parameter.
In one embodiment, the operation device can operate the workpiece movement, the movement in first operating point Including：Workpiece translational motion to the snap point and external control point overlaps；And, overlapped in the snap point and external control point In the case of, workpiece is rotated around the external control point, certainly in other embodiments, if there is other demands can also to put down again Move.
Step S2：The coordinate transformation of workpiece moving process is carried out to obtain operation device in the mistake for operating the workpiece to move Motion track in journey.
In one embodiment, the coordinate transformation is to be moved by each point coordinates and such as rotational angle of aforementioned definitions etc. Parameter obtains each point coordinates of the correspondence in motion track, specifically using plane geometry and the Computing Principle of solid geometry, after Text is discussed in greater detail.
As shown in Fig. 2 step S2 is specifically included：
Step S21：Translation vector is obtained according to the alignment point coordinates before translation and external control point coordinates；
Step S22：If corresponding to the second operating point after the translation of the first operating point, sat according to translation vector and the first operating point Mark calculates the second operation point coordinates after translation, to obtain the translation track of operation device；
Step S23：In the case where the workpiece is rotated around the external control point, the angle of rotation of workpiece is obtained Degree, the rotational angle is：When the second operating point is by described turning to up to three operating points, the second operating point and outside Control point line is with the angle between the 3rd operating point and external control point line；
Step S24：Row interpolation is entered by default interpolation precision to the angle, the is reached in second operating point to obtain The coordinate of the multiple interpolation points on the track of three operating points is obtaining the rotating operation track of operation device.
Operation device can be obtained in operation workpiece translational motion and rotation etc. by combining the translation track and rotating Motion track in motion process.
In one embodiment, methods described also includes：Each described marginal point for obtaining workpiece carries out the seat after the movement It is marked in sewing operation, it is described every time to rotate one section that is so that the edge of work with the coincidence of default normal to carry out next step seam Thread operation, specifically, the external control point is located on default normal, each two marginal point structure being aligned on the workpiece Section；Each rotation be the workpiece is turned to make its edge one described in line segment overlapped with the normal, the work The rotational angle of part is to turn to rotational angle that same normal overlaps by calculating the line segment and obtain.
Hereinafter above-mentioned principle will be illustrated with a specific embodiment, as shown in figs. 3 a and 3b；For example, the coordinate System is related to such as four axle X transverse axis, the Y longitudinal axis, Z upper and lower axles, U rotary shaft operation device grabbing workpieces, although Z axis in this embodiment Do not illustrate, but under teachings of the present invention, should be with beyond all doubt with reference to prior arts such as space geometry and plane geometry Realize on ground.
As illustrated, set operation device being moved in X, Y rectangular coordinate system, U (is counterclockwise for the rotary shaft of operation device Positive direction), workpiece is made up of for any one closed figures such as P0, P1, P2, P3, P4, P5, P6, P7, and definition P0 is starting point, First operating point CO coordinates are (CO0X, CO0Y, CO0U), external control point A coordinates are (AX, AY), normal is L.According to operation device Operating the mode difference of workpiece carries out different Coordinate Conversions and is combined：
Mode 1：Translation
As shown in Figure 3 a, starting point P0 is moved to external control point A and overlapped by operation device control workpiece as shown in arrow； It is (P0 that P0 coordinates are set before not translating0X, P00Y), can obtain translation vector isThe operating point CO1 coordinates of operation device after translation (CO1X, CO1Y, CO1U) computing formula be：
[CO1X, CO1Y, CO1U]=[AX-P00X, AY-P00Y, 0] and+[CO0X, CO0Y, CO0U]
And coordinate computing formula is after can corresponding to each marginal point P0-P7 translations of calculating workpiece：
[Pi1X, Pi1Y]=[AX-P00X, AY-P00Y]+[Pi0X, Pi0Y], i is more than 1 integer, in the present embodiment, i<8.
Mode 2：Rotate
As shown in Figure 3 b, in the case of keeping P0 to be overlapped with external control point A, operation device control workpiece is turned to and made P0-P1 lines formed section is overlapped with normal, that is to say, that in sewing operation, every time rotate before be necessary that keep P0 points with External control point overlaps, then in whole operation process, is that constantly translation is rotated further by after overlapping, if 2 points have deviation, The process being rotated further by after overlapping is moved to again, then the motion track of operation device is by a plurality of translation track and rotating operation Track is constituted.
In one embodiment, the operation point coordinates before operation device is rotated is CO1 (CO1X, CO1Y, CO1U), edge of work point The coordinate of P0, P1 is (P01X, P01Y), (P11X, P11Y), the operation point coordinates after rotation is CO2 (CO2X, CO2Y, CO2U)；P0 connects It is θ with the angle of normal to connect P1 lines formed section, and it is Δ θ, interpolation point number N that note inserts point precision1=θ/Δ θ, for example, if folder Angle is 90 degree, and interpolation precision is for if 1 degree, then it is 90 that interpolation is counted out；Each interpolation point between CO1 and CO2 is respectively CO21.....CO2n....CO2N1；N, N1 are all integer.
If obtaining the 1st rotational angle of interpolation point for Δ θ, vector is obtainedCalculate CO21X-axis and Y-axis sit Mark：
The 1st interpolation point during rotation is CO21U axial coordinates：
CO21U=Δ θ+CO1U
Similarly, n-th rotational angle of interpolation point is n* Δ θ, obtains vectorCO2nX-axis and Y-axis coordinate：
N-th point CO '2nU axial coordinates：
CO2n=n* Δ θ+CO1U
Obtain interpolation point data (i.e. operation device movement locus) as shown in table 1：
Table 1 rotates interpolation point coordinates
Result of calculation when CO2 is n=N1 in above-mentioned formula, now n* Δs θ be θ, therefore no longer to the computing formula of CO2 Repeated, those skilled in the art unambiguously should be obtained from teachings of the present invention
Workpiece summit P0-P7 rotates the coordinate after θ：
Afterwards, repeat above-mentioned translation, rotate calculating, finally give each coordinate points in the motion track of operation device According to, and can also obtain each coordinate point data on workpiece in the motion track of each marginal point.
In one embodiment, it is preferred that described operation trace acquisition methods, also include：Obtain workpiece relatively described outer The process of the translational speed at portion control point, approximately as：
A：Calculate the first coordinate amount of movement that first operating point moves to the second operating point；
B：With reference to the rotational angle, the second coordinate movement that second operating point turns to the 3rd operating point is calculated Amount；
C：With reference to the first coordinate amount of movement and the second coordinate amount of movement calculating total amount of movement；
D：The displacement of workpiece is calculated according to total amount of movement；
E：The time of the 3rd operating point and the displacement of the workpiece for being calculated are moved to reference to first operating point, Calculate the translational speed at workpiece opposite outer control point.
Specifically, its principle is illustrated with reference to above-described embodiment：Operation device grabbing workpiece controls workpiece around outside Control point A is acted, and when operation device act, is located in the Δ t times, and the current location point for reading operation device is that (i is Di More than 1 integer), it is [D in the coordinate value of X, Y, U axleiX, DiY, DiU], operation device control workpiece opposite outer control point Displacement Δ Li.
If the U axles differential seat angle of current location point Di and prior location point Di-1 is θ, then：
θ=DiU-D(i-1)U
In one embodiment, displacement Δ Li is translated by X, Y-axis and U axles rotate two factors and cause.
The coordinate amount of movement of translation：
[ΔDX1,ΔDY1]=[DiX-D(i-1)X, DiY-D(i-1)Y]
The coordinate amount of movement of rotation：
With reference to translation and the coordinate amount of movement for rotating:
[ΔDX,ΔDY]=[Δ DX1,ΔDY1]+[ΔDX2,ΔDY2]
Displacement Δ Li can be obtained：
Therefore workpiece opposite outer controls spot speed:
Vi=Δ Li/ Δs t
By tracing detection operation device movement locus, the movement at operation device control workpiece opposite outer control point is calculated Speed, the control of the calculating of this speed to the external equipment beyond operation device is significant.
As shown in figure 4, the present invention also provides a kind of operation trace acquisition device 1, for obtaining operation device operation workpiece When motion track, its know-why is roughly the same with above-described embodiment, therefore in the case where not conflicting, in above-described embodiment Technical characteristic can be applied to following examples, therefore no longer repeat.
The operation trace acquisition device 1 includes：Coordinate definition unit 11 and coordinate transformation unit 12；The coordinate definition Unit 11, for setting up coordinate system in predetermined workpiece mobile space, defines each edge of the workpiece in the coordinate system Put and using the marginal point of wherein at least one as snap point, and the first operating point is defined in workpiece；In the workpiece mobile space Define external control point；The operation device operates the workpiece to move in first operating point, and the movement includes：Workpiece Move to the snap point and external control point overlaps；And, in the case where the snap point and external control point overlap, work Part is rotated around the external control point；The coordinate transformation unit 12, the coordinate transformation for carrying out workpiece moving process To obtain motion track of the operation device during operating the workpiece to move, wherein, the coordinate transformation includes：According to Alignment point coordinates and external control point coordinates before translation obtain translation vector；If corresponding to the second behaviour after the translation of the first operating point Make a little, the second operation point coordinates after translation to be calculated according to translation vector and the first operation point coordinates, to obtain operation device Translation track；In the case where the workpiece is rotated around the external control point, the rotational angle of workpiece, institute are obtained Rotational angle is stated to be：When the second operating point is by described turning to up to three operating points, the second operating point and external control Point line is with the angle between the 3rd operating point and external control point line；Row interpolation is entered by default interpolation precision to the angle, To obtain the coordinate of the multiple interpolation points on the track for reaching the 3rd operating point in second operating point to obtain operation device Rotating operation track.
In one embodiment, the coordinate transformation unit 12, be additionally operable to obtain each described marginal point of workpiece carry out it is described Coordinate after movement.
In one embodiment, the external control point is located on default normal, each two marginal point structure on the workpiece Being aligned section；Each rotation be the workpiece is turned to make its edge one described in line segment overlapped with the normal, The rotational angle of the workpiece is to turn to rotational angle that same normal overlaps by calculating the line segment and obtain.
In one embodiment, described operation trace acquisition device also includes：Workpiece translational speed acquiring unit, based on The first coordinate amount of movement that first operating point moves to the second operating point is calculated, second operating point is calculated and is turned to the 3rd Second coordinate amount of movement of operating point, with reference to the first coordinate amount of movement and the second coordinate amount of movement calculating total movement Amount, the displacement of workpiece is calculated according to the total amount of movement, with reference to first operating point be moved to the 3rd operating point when Between and the displacement of workpiece that is calculated calculate the translational speed at workpiece opposite outer control point.
In one embodiment, the coordinate system includes：X-axis, Y-axis, Z axis and U axles, wherein, the U axles are rotary shafts, with Angle is unit.
In sum, it is an object of the invention to provide a kind of operation trace acquisition methods and device, in predetermined workpiece Coordinate system is set up in mobile space, each marginal point of the workpiece is defined in the coordinate system and is made the marginal point of wherein at least one It is snap point, and the first operating point is defined in workpiece；External control point is defined in the workpiece mobile space；The operation dress Put and operate the workpiece to move in first operating point, the movement includes：Workpiece translational motion to the snap point and outside is controlled System point overlaps；And, in the case where the snap point and external control point overlap, workpiece is turned around the external control point Move or translate again；The coordinate transformation of workpiece moving process is carried out to obtain moving rail of the operation device in the operating process Mark, so as to obtain operation device motion track in operation；The present invention is simple and easy to apply, and precision is high.
Advantages of the present invention
1. in four axle operation device grabbing workpieces in motion process, sat according to location of workpiece coordinate and crawl center Mark, the control edge of work calculates the movement locus coordinate of operation device by external control point A.
2. carried out interpolation calculation in rotary course to be controlled movement locus, it is ensured that workpiece opposite outer is controlled The geo-stationary of point, it is to avoid skew occurs in workpiece opposite outer control point A.
3., by tracing detection operation device movement locus, the shifting at operation device control workpiece opposite outer control point is calculated Dynamic speed, the control of the calculating of this speed to the external equipment beyond operation device is significant.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe The personage for knowing this technology all can carry out modifications and changes under without prejudice to spirit and scope of the invention to above-described embodiment.Cause This, those of ordinary skill in the art is complete with institute under technological thought without departing from disclosed spirit such as Into all equivalent modifications or change, should be covered by claim of the invention.

Claims (10)

1. a kind of operation trace acquisition methods, for obtaining motion track during operation device operation workpiece, it is characterised in that institute The method of stating includes：
Set up coordinate system in predetermined workpiece mobile space, defined in the coordinate system each marginal point of the workpiece and by its In an at least marginal point as snap point, and workpiece define the first operating point；
External control point is defined in the workpiece mobile space；
The operation device operates the workpiece to move in first operating point, and the movement includes：Workpiece translational motion is to described Snap point and external control point overlap；And, in the case where the snap point and external control point overlap, workpiece is around described outer Portion control point is rotated；
The coordinate transformation of workpiece moving process is carried out to obtain movement of the operation device during operating the workpiece to move Track, it includes：
Translation vector is obtained according to the alignment point coordinates before translation and external control point coordinates；
If corresponding to the second operating point after the translation of the first operating point, after calculating translation according to translation vector and the first operation point coordinates Second operation point coordinates, to obtain the translation track of operation device；
In the case where the workpiece is rotated around the external control point, the rotational angle of workpiece, the angle of rotation are obtained Degree is：When the second operating point is by described turning to up to three operating points, the second operating point and external control point line are same Angle between the 3rd operating point and external control point line；
Row interpolation is entered by default interpolation precision to the angle, the rail of the 3rd operating point is reached in second operating point to obtain The coordinate of the multiple interpolation points on mark is obtaining the rotating operation track of operation device.
2. operation trace acquisition methods according to claim 1, it is characterised in that also include：Obtain each described of workpiece Marginal point carries out the coordinate after the movement.
3. operation trace acquisition methods according to claim 2, it is characterised in that the external control point is located at default On normal, each two marginal point constitutes a line segment on the workpiece；Each rotation is to turn to the workpiece to make it Line segment overlaps with the normal described in the one of edge, and the rotational angle of the workpiece is to turn to same method by calculating the line segment Line overlap rotational angle and obtain.
4. operation trace acquisition methods according to claim 1, it is characterised in that also include：
Calculate the first coordinate amount of movement that first operating point moves to the second operating point；
Calculate the second coordinate amount of movement that second operating point turns to the 3rd operating point；
With reference to the first coordinate amount of movement and the second coordinate amount of movement calculating total amount of movement；
The displacement of workpiece is calculated according to total amount of movement；
The time of the 3rd operating point and the displacement of the workpiece for being calculated are moved to reference to first operating point, work is calculated The translational speed at part opposite outer control point.
5. operation trace acquisition methods according to claim 1, it is characterised in that the coordinate system includes：X-axis, Y-axis, Z Axle and U axles, wherein, the U axles are rotary shafts, in units of angle.
6. a kind of operation trace acquisition device, for obtaining motion track during operation device operation workpiece, it is characterised in that institute Stating operation trace acquisition device includes：Coordinate definition unit and coordinate transformation unit；
The coordinate definition unit, for setting up coordinate system in predetermined workpiece mobile space, defines in the coordinate system Each marginal point of workpiece and using the marginal point of wherein at least one as snap point, and workpiece define the first operating point；Described External control point is defined in workpiece mobile space；
The operation device operates the workpiece to move in first operating point, and the movement includes：Workpiece translational motion is to described Snap point and external control point overlap；And, in the case where the snap point and external control point overlap, workpiece is around described outer Portion control point is rotated；
The coordinate transformation unit, the work is being operated for carrying out the coordinate transformation of workpiece moving process to obtain operation device Motion track during part movement, wherein, the coordinate transformation includes：According to the alignment point coordinates before translation and outside control Point coordinates processed obtains translation vector；If corresponding to the second operating point after the translation of the first operating point, grasped according to translation vector and first Make the second operation point coordinates after point coordinates calculates translation, to obtain the translation track of operation device；The workpiece around In the case that the external control point is rotated, the rotational angle of workpiece is obtained, the rotational angle is：In the second operation Point is turned to during up to three operating points by described, and the second operating point and external control point line are controlled with the 3rd operating point with outside Angle between system point line；Row interpolation is entered by default interpolation precision to the angle, is reached in second operating point with obtaining The coordinate of the multiple interpolation points on the track of the 3rd operating point is obtaining the rotating operation track of operation device.
7. operation trace acquisition device according to claim 6, it is characterised in that the coordinate transformation unit, is additionally operable to Each described marginal point for obtaining workpiece carries out the coordinate after the movement.
8. operation trace acquisition device according to claim 7, it is characterised in that the external control point is located at default On normal, each two marginal point constitutes a line segment on the workpiece；Each rotation is to turn to the workpiece to make it Line segment overlaps with the normal described in the one of edge, and the rotational angle of the workpiece is to turn to same method by calculating the line segment Line overlap rotational angle and obtain.
9. operation trace acquisition device according to claim 6, it is characterised in that also include：Workpiece translational speed is obtained Unit, the first coordinate amount of movement of the second operating point is moved to for calculating first operating point, calculates second operation Point turns to the second coordinate amount of movement of the 3rd operating point, with reference to the first coordinate amount of movement and the second coordinate amount of movement in terms of Total amount of movement is calculated, the displacement of workpiece is calculated according to total amount of movement, the 3rd is moved to reference to first operating point The displacement of the time of operating point and the workpiece for being calculated calculates the translational speed at workpiece opposite outer control point.
10. operation trace acquisition device according to claim 6, it is characterised in that the coordinate system includes：X-axis, Y-axis, Z axis and U axles, wherein, the U axles are rotary shafts, in units of angle.
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