CN106527351B - A kind of small line segment Real-time Interpolation that easement curve length is dynamically determined - Google Patents
A kind of small line segment Real-time Interpolation that easement curve length is dynamically determined Download PDFInfo
- Publication number
- CN106527351B CN106527351B CN201510574854.5A CN201510574854A CN106527351B CN 106527351 B CN106527351 B CN 106527351B CN 201510574854 A CN201510574854 A CN 201510574854A CN 106527351 B CN106527351 B CN 106527351B
- Authority
- CN
- China
- Prior art keywords
- corner
- transition
- curve
- length
- spline
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007704 transition Effects 0.000 claims abstract description 79
- 238000000034 method Methods 0.000 claims abstract description 41
- 238000012545 processing Methods 0.000 claims abstract description 20
- 238000004364 calculation method Methods 0.000 claims abstract description 10
- 238000005457 optimization Methods 0.000 claims abstract description 7
- 230000003068 static effect Effects 0.000 claims description 4
- 238000003754 machining Methods 0.000 abstract description 9
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000001133 acceleration Effects 0.000 description 8
- 230000036461 convulsion Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 241000258957 Asteroidea Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
Classifications
-
- 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
- G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
- G05B19/4103—Digital interpolation
-
- 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
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42207—Generate points between start and end position, linear interpolation
Landscapes
- Engineering & Computer Science (AREA)
- Computing Systems (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
The present invention relates to the small line segment processing technology of fields of numeric control technique, small line segment Real-time Interpolation that specifically a kind of easement curve length is dynamically determined.The present invention is the following steps are included: establish B-spline curves turning transition model；The unit length and thresholding speed of angle calculation easement curve between the largest contours error amount and small line segment that are allowed according to digital control system；Interpolation is carried out to cutter path；Optimize the B-spline easement curve at current turning to reduce process time as target according to the parameter of adjacent corners easement curve.The B-spline corner easement curve at 5 control points of the invention can reduce calculation amount on the basis of guaranteeing continual curvature to the greatest extent；The calculating of unit length can greatly reduce the calculation amount when adjustment of transition curve parameter, and the foundation of easement curve parameter adjustment is constituted together with thresholding speed；The corner optimization method of use can effectively reduce process time on the basis of guaranteeing machining accuracy.
Description
Technical Field
The invention relates to a small line segment processing technology in the technical field of numerical control, in particular to a small line segment real-time interpolation method for dynamically determining the length of a transition curve.
Background
In the traditional machining field, CAD/CAM generates G codes consisting of small line segments, and CNC directly machines the small line segments. This approach has significant drawbacks: lower machining precision, longer machining time, poorer surface quality.
The existing research results are reflected in the industrial field and the research field. In the industrial field, SIMENCE adopts a corner transition method in high-end numerical control machines such as 840D and the like, but related technologies are not disclosed and discussed. The research field adopts circular arc transition, Ferguson curve transition, B spline transition and cubic spline transition. It is characterized in that: the circular arc transition is simple to calculate, but the curvature of the circular arc transition and the Ferguson curve transition at the connecting point of the transition curve and the tool track is discontinuous, and the tool vibration is caused by the speed fluctuation. The existing B-spline curve has the problems of unknown position proportion between control points, more complex calculation and the like. The cubic spline curve is used as a corner transition mode, and the optimization problem of the intersection of adjacent transition curves is not considered in the arc transition, the Ferguson curve transition and the B spline transition.
Disclosure of Invention
Aiming at the respective defects of the existing common methods, the invention aims to provide a small line segment real-time interpolation method for dynamically determining the length of a transition curve, which can optimize the parameters of a corner transition curve and perform real-time interpolation on the processed cutter path.
The technical scheme adopted by the invention for realizing the purpose is as follows: a small line segment real-time interpolation method for dynamically determining the length of a transition curve comprises the following steps:
establishing a B spline curve corner transition model;
calculating the unit length and the threshold speed of the transition curve according to the maximum profile error value allowed by the numerical control system and the angle between the small line segments;
interpolating the tool path;
and optimizing the B-spline transition curve of the current corner by taking the reduction of the processing time as a target according to the parameters of the adjacent corner transition curves.
The B-spline curve corner transition model specifically comprises the following steps: three adjacent points P on the tool path based on the maximum profile error valuei-1、PiAnd Pi+1The point is the upper set control point.
The control points are five and comprise line segments Pi-1PiControl point P oft0、Pt1And point PiCoincident control points Pt2Line segment PiPi+1Control point P oft3、Pt4Wherein P ist2Pt0>Pt2Pt1，Pt2Pt4>Pt2Pt3The maximum profile error value u is equal to the control point PiControl to transition curve Pt1Pt3The distance of (c).
The length of the transition curve is as follows:
Sl＝|l|λ
wherein l is a line segment P formed by control pointst2Pt1λ is the corner ∠ Pi-1PiPi+1At a unit length of the transition curve, i.e. /)1Length of the transition curve 1 ═ l1Segment P formed for control pointt2Pt1Length of (d).
The threshold speed is a speed corresponding to a point when the maximum profile error value u is 0.5, that is:
wherein,l1segment P formed for control pointt2Pt1α is ∠ Pi-1PiPi+1T is the interpolation period, and e is the maximum profile error value.
The interpolation of the tool path adopts a 7-segment speed planning algorithm and a static look-ahead algorithm.
The method for optimizing the B-spline transition curve of the current corner by taking the reduction of the processing time as a target according to the parameters of the adjacent corner transition curves comprises the following steps:
setting a time optimization function:
wherein f (t) is the processing time;
A1＝λ1T/2,A2＝λ2T/2
V＝min(Vthreshold_i,Vthreshold_i+1)
l1＝li，l2＝L-li
d1＝2e/c1，d2＝2e/c2
l represents Pi、Pi+1Distance between, λ1Is corner ∠ Pi-1PiPi+1Unit length of transition curve, Vthreshold_iIs corner ∠ Pi-1PiPi+1A threshold speed of the transition curve; lambda [ alpha ]2Is corner ∠ PiPi+1Pi+2Unit length of transition curve, Vthreshold_i+1Is corner ∠ PiPi+1Pi+2A threshold speed of the transition curve; liIs corner ∠ Pi-1PiPi+1A control point P corresponding to the spline curvet2，Pt4Length of line segment in between, L being point PiAnd Pi+1Length of line between,/1、l2、 d1、d2、c1、c2For the intermediate parameters of the calculation process, T is the interpolation period, e is the maximum profile error value, α is ∠ Pi-1PiPi+1And β is ∠ PiPi+1Pi+2；
And determining the B spline transition curve of the current corner by l when the value of f (t) is minimum.
The invention has the following advantages and beneficial effects:
the B-spline corner transition curve of the 1.5 control point can reduce the calculated amount to the maximum extent on the basis of ensuring the continuous curvature.
2. The calculation of unit length can greatly reduce the calculation amount during the adjustment of the transition curve parameters, and the calculation amount and the threshold speed form the basis for the adjustment of the transition curve parameters.
The 3.7-segment speed planning algorithm and the static look-ahead algorithm are beneficial to generating smooth machining speed.
4. The corner optimization method can effectively reduce the processing time on the basis of ensuring the processing precision.
Drawings
FIG. 1 is a B-spline corner transition model;
FIG. 2 is a B-spline corner transition control point coordinate model;
FIG. 3 is a schematic view of a 7-segment velocity profile;
FIG. 4 is a diagram of a look-ahead window;
FIG. 5 is a schematic diagram of a speed planning unit;
FIG. 6 is a schematic diagram of adjacent B-spline transition curves;
FIG. 7 is a schematic representation of a star line;
FIG. 8 is a comparison of tool paths;
FIG. 9 is an enlarged view of FIG. 8;
FIG. 10 is a comparison of processing effects;
fig. 11 is a comparison of processing speed curves.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
1 first, a B-spline curve corner transition model is established. Pi-1、PiAnd Pi+1Three points are three adjacent points on the tool path, u is the maximum profile error value determined by the system, and the determined corner transition curve is shown in FIG. 1, wherein P istiAnd i is 0,1,2,3 and 4, which are control points of the spline.
2 optimizing the transition curve.
(1) A threshold speed is determined. The speed corresponding to the point on the transition spline curve where the parameter u is 0.5 is referred to as the threshold speed in the processing of the transition spline. The transition spline curve at this time is shown in fig. 2. l1Is a line segment Pt2Pt1Length of (c), control point (P)tiI-0, 1,2,3,4) coordinates are calculated as follows:
from this, the spline curve value and derivative value can be calculated when u is 0.5, and the result is as follows:
therefore, when u is 0.5, the curvature values of the spline curves are as follows:
the threshold speed can thus be obtained as follows:
wherein,
(2) the length of the transition curve is calculated. The length of the transition curve was calculated using the integration method and the Simpson method as follows:
the derivative of the spline curve is as follows:
wherein, N'i,3(u) is the first derivative of the basis function, PixAs x-coordinate of the control point, PiyAs y-coordinate of the control point, PizIs the z coordinate of the control point.
From the equations (5) and (6), the length of the transition spline curve and the line segment l1Positive correlation in length, assume l1When the length of the curve is λ, the curve length S is 1lCan be expressed as follows:
Sl＝|l|λ (7)
3-speed planning and look-ahead algorithm
(1) As shown in fig. 3, the bell-shaped velocity planning method is adopted, and the calculation formula is as follows:
wherein A ismax，JmaxMaximum acceleration, jerk, v allowed for the systemsIs the starting velocity. v. of1v2v3v4v5To calculate the intermediate variables of the process, t1, t2, t3, t4, t5, t6, t7 are as shown in fig. 3: adding the end time of the acceleration process, the end time of the uniform acceleration process, the end time of the deceleration process, the end time of the uniform velocity process, the end time of the acceleration and deceleration process, the end time of the uniform deceleration process and the end time of the deceleration process.
(2) As shown in fig. 4, a static look-ahead approach is used for speed planning.
a) Calculating the maximum speed V that can be reached at the starting point of the path during the reverse acceleration of the speed planning unit (j)end。 P(j).VmaxWhen the maximum machining speed allowed by the speed planning means (j) at the starting point of the path is represented, vs min (p (j))max,Vend) The machining speed of the next speed planning unit (j-1) at the end of the path is indicated.
b) Subtracting 1 from the value of j, and repeating the step a) until the value of j is 1.
c) And carrying out speed planning on the current speed planning unit according to vs.
The speed planning unit is divided as shown in fig. 5, and the threshold speed is set as the maximum allowable machining speed of the current segment.
4 transition curve optimization
In order to reduce the processing time of the spline curve at the corner transition, a time optimization function is set as follows:
as shown in fig. 6, the respective parameter settings are as follows:
A1＝λ1T/2,A2＝λ2T/2
V＝min(Vthreshold_i,Vthreshold_i+1)
l1＝li，l2＝L-li
d1＝2e/c1，d2＝2e/c2
l represents Pi、Pi+1The distance between them.
And finally, determining the transition curve of the current corner by l when the value of f (t) is minimum.
Effects of the invention
The starfish pattern shown in fig. 7 is a processing example used in the experiment. Fig. 8 is an enlarged view of the inside circle of fig. 8, showing the machining path planned by the conventional spline transition method and the method of the present invention. As can be seen from fig. 8, the processing path planned by the method is smoother when the corner is sharper and more accurate when the corner is smoother.
To further verify the effect of the present invention, the interpolation command speed was set to 2m/s and the maximum acceleration was set to 5m/s2The maximum jerk is 40m/s3The interpolation period of the numerical control machine tool is 0.002s, the maximum profile error is 1mm, and the graph shown in fig. 7 is processed and verified.
Fig. 10(a) is a result of processing using the conventional corner transition method, and fig. 10(b) is a result of processing using the corner transition method, and it can be seen that the method can achieve better processing quality.
Fig. 11(a), (b), (c) are graphs of speed, acceleration and jerk when processed by the conventional corner transition method, and fig. 11 (d), (e), (f) are graphs of speed, acceleration and jerk when processed by the present corner transition method, it can be seen that the present method can achieve a faster processing speed.
Claims (6)
1. A small line segment real-time interpolation method for dynamically determining the length of a transition curve is characterized by comprising the following steps:
establishing a B spline curve corner transition model;
calculating the unit length and the threshold speed of the transition curve according to the maximum profile error value allowed by the numerical control system and the angle between the small line segments;
interpolating the tool path;
optimizing a B-spline transition curve of the current corner by taking the reduction of the processing time as a target according to parameters of adjacent corner transition curves;
the method for optimizing the B-spline transition curve of the current corner by taking the reduction of the processing time as a target according to the parameters of the adjacent corner transition curves comprises the following steps:
setting a time optimization function:
wherein f (t) is the processing time;
A1＝λ1T/2,A2＝λ2T/2
V＝min(Vthreshold_i,Vthreshold_i+1)
l1＝li，l2＝L-li
d1＝2e/c1，d2＝2e/c2
l represents Pi、Pi+1Distance between, λ1Is corner ∠ Pi-1PiPi+1Unit length of transition curve, Vthreshold_iIs corner ∠ Pi-1PiPi+1A threshold speed of the transition curve; lambda [ alpha ]2Is corner ∠ PiPi+1Pi+2Unit length of transition curve, Vthreshold_i+1Is corner ∠ PiPi+1Pi+2A threshold speed of the transition curve; liIs corner ∠ Pi-1PiPi+1At the control point P corresponding to the spline curvet2，Pt4Length of line segment in between, L being point PiAnd Pi+1Length of line between,/1、l2、d1、d2、c1、c2For the intermediate parameters of the calculation process, T is the interpolation period, e is the maximum profile error value, α is ∠ Pi-1PiPi+1And β is ∠ PiPi+1Pi+2；
And determining the B spline transition curve of the current corner by l when the value of f (t) is minimum.
2. The method for interpolating the small line segments dynamically determined by the length of the transition curve in real time according to claim 1, wherein the B-spline curve corner transition model specifically comprises: three adjacent points P on the tool path based on the maximum profile error valuei-1、PiAnd Pi+1And setting a control point on the point.
3. The method according to claim 2, wherein the number of the control points is five, including the segment Pi-1PiControl point P oft0、Pt1And point PiCoincident control points Pt2Line segment PiPi+1Control point P oft3、Pt4Wherein P ist2Pt0>Pt2Pt1，Pt2Pt4>Pt2Pt3The maximum profile error value u is equal to the control point PiControl to transition curve Pt1Pt3The distance of (c).
4. The method for interpolating small line segments dynamically determined according to the length of the transition curve of claim 1, wherein the length of the transition curve is as follows:
Sl＝|l|λ
wherein l is a line segment P formed by control pointst2Pt1λ is the corner ∠ Pi-1PiPi+1The unit length of the transition curve, i.e. /)1Length of the transition curve 1 ═ l1To controlLine segment P formed by dottingt2Pt1Length of (d).
5. The method as claimed in claim 1, wherein the threshold speed is a speed corresponding to a point at which a maximum profile error value u is 0.5, that is:
wherein,l1segment P formed for control pointt2Pt1α is ∠ Pi-1PiPi+1T is the interpolation period, and e is the maximum profile error value.
6. The method of claim 1, wherein the interpolation of the tool path is performed by a 7-segment speed planning algorithm and a static look-ahead algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510574854.5A CN106527351B (en) | 2015-09-10 | 2015-09-10 | A kind of small line segment Real-time Interpolation that easement curve length is dynamically determined |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510574854.5A CN106527351B (en) | 2015-09-10 | 2015-09-10 | A kind of small line segment Real-time Interpolation that easement curve length is dynamically determined |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106527351A CN106527351A (en) | 2017-03-22 |
| CN106527351B true CN106527351B (en) | 2019-01-22 |
Family
ID=58346236
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510574854.5A Active CN106527351B (en) | 2015-09-10 | 2015-09-10 | A kind of small line segment Real-time Interpolation that easement curve length is dynamically determined |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106527351B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018205276A1 (en) * | 2017-05-12 | 2018-11-15 | 深圳配天智能技术研究院有限公司 | Motion trajectory smooth transition method and device and related equipment |
| CN108170094B (en) * | 2017-12-12 | 2020-05-15 | 烟台大学 | Method for smoothly compressing cutter path |
| CN108303952B (en) * | 2018-03-18 | 2020-10-02 | 烟台大学 | Speed curve planning method suitable for small line segment of numerical control device cutter |
| CN109325974B (en) * | 2018-08-24 | 2022-03-29 | 华南理工大学 | Method for obtaining length of three-dimensional curve by adopting image processing |
| CN111630461B (en) * | 2018-12-21 | 2022-07-12 | 深圳配天智能技术研究院有限公司 | Numerical control machining method and system and device with storage function |
| CN109799792B (en) * | 2019-01-08 | 2021-06-01 | 华侨大学 | Method for smooth transition of micro line segment for high-speed numerical control machining |
| CN110488758B (en) * | 2019-08-09 | 2021-05-25 | 南京埃斯顿自动化股份有限公司 | Trajectory transition method based on PLCopen specification |
| CN114746221A (en) * | 2019-12-04 | 2022-07-12 | Abb瑞士股份有限公司 | Method for controlling an industrial actuator, control system and actuator system |
| CN111708327B (en) * | 2020-07-14 | 2023-07-11 | 中国石油大学(华东) | PH spline transition linear path processing method with G2 continuity |
| CN112162527B (en) * | 2020-10-07 | 2022-01-28 | 烟台大学 | Cutter path corner smooth transition method suitable for five-axis numerical control device |
| CN112346406B (en) * | 2020-11-03 | 2022-03-01 | 西北工业大学 | Smoothing method for tool path of five-axis numerical control machine tool |
| CN113589761B (en) * | 2021-07-16 | 2024-06-07 | 天津大学 | Direct speed transition fairing method based on trigonometric function acceleration and deceleration control |
| CN113723417B (en) * | 2021-08-31 | 2024-04-12 | 深圳平安智慧医健科技有限公司 | Single view-based image matching method, device, equipment and storage medium |
| CN113759827B (en) * | 2021-09-30 | 2023-02-03 | 烟台大学 | High-speed high-precision five-axis cutter path corner smoothing method |
| CN117008532B (en) * | 2023-07-28 | 2024-03-08 | 烟台大学 | Three-order geometrically continuous numerical control tool path corner smoothing method |
| CN117666475A (en) * | 2023-12-07 | 2024-03-08 | 齐齐哈尔大学 | Continuous short line segment corner processing path smoothing method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100249354B1 (en) * | 1997-12-29 | 2000-03-15 | 전기준 | Method of contour error modeling for cross-coupled control of cnc machines |
| CN102880119A (en) * | 2012-09-06 | 2013-01-16 | 上海交通大学 | Unit arc length increment interpolation method |
| CN103699056A (en) * | 2013-12-02 | 2014-04-02 | 嘉兴学院 | Real-time smooth transition interpolation method of small high-speed and high-accuracy numerical control machining line segment |
| CN104007705A (en) * | 2014-05-05 | 2014-08-27 | 上海交通大学 | Prospective interpolation system for compressing and smoothening small segment paths |
| CN104076743A (en) * | 2014-07-07 | 2014-10-01 | 浙江理工大学 | Interpolation type automatically identified interpolation control method |
-
2015
- 2015-09-10 CN CN201510574854.5A patent/CN106527351B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100249354B1 (en) * | 1997-12-29 | 2000-03-15 | 전기준 | Method of contour error modeling for cross-coupled control of cnc machines |
| CN102880119A (en) * | 2012-09-06 | 2013-01-16 | 上海交通大学 | Unit arc length increment interpolation method |
| CN103699056A (en) * | 2013-12-02 | 2014-04-02 | 嘉兴学院 | Real-time smooth transition interpolation method of small high-speed and high-accuracy numerical control machining line segment |
| CN104007705A (en) * | 2014-05-05 | 2014-08-27 | 上海交通大学 | Prospective interpolation system for compressing and smoothening small segment paths |
| CN104076743A (en) * | 2014-07-07 | 2014-10-01 | 浙江理工大学 | Interpolation type automatically identified interpolation control method |
Non-Patent Citations (2)
| Title |
|---|
| 《time-optimal interpolation for CNC machining along curved tool paths with confined chord error》;YUAN Chunming etc.;《 J Syst Complex(2013)》;20131230(第26期);参见摘要，第2页第1段，第3页最后5段，第4-6页，第7页最后一段，第8页第1-2段 |
| 《面向微线段高速加工的拐角曲线过渡插补算法》;张晓辉等;《机械工程学报》;20101030;第46卷(第19期);参见摘要，第2页右栏，第3-5页，第6页左栏，第8页左栏最后一行到右栏，图1-4 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106527351A (en) | 2017-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106527351B (en) | A kind of small line segment Real-time Interpolation that easement curve length is dynamically determined | |
| CN109571473B (en) | Error-controllable small line segment trajectory fairing method | |
| CN102722140B (en) | Multi-period corner small straight-line segment interpolation method based on S curve acceleration/deceleration control | |
| CN106826829B (en) | A kind of industrial robot fairing motion profile generation method of Controllable Error | |
| CN104841593B (en) | Control method of robot automatic spraying system | |
| JP6257796B2 (en) | Tool path generation method and machine tool | |
| CN103048953B (en) | Segmented interpolation method of NURBS (Non-Uniform Rational B-Spline) curve based on ARM9 (Advanced RISC Machines) embedded system and FPGA (Field Programmable Gate Array) | |
| WO2011052800A1 (en) | Tool path generation method and device | |
| CN108170094A (en) | A kind of method of cutter path smooth compression | |
| CN112162527B (en) | Cutter path corner smooth transition method suitable for five-axis numerical control device | |
| WO2019007018A1 (en) | Ruled surface machining path generation method, device and equipment, and medium | |
| CN105045211B (en) | One kind etc. bends high error variable step tangent line interpolating method | |
| CN112486101B (en) | NURBS curve self-adaptive look-ahead interpolation method | |
| CN107414316B (en) | A kind of scan incision method for the multiple circles of Continuous maching | |
| CN108303952A (en) | A kind of rate curve planing method of small line segment suitable for numerical control device cutter | |
| JPH04230503A (en) | Tool-orbit-profile obtaining method in numerically controlled machine | |
| CN113111404B (en) | Space continuous small line segment arc and straight line fitting method for processing track | |
| CN103048954A (en) | Segmented interpolation method of NURBS (Non-Uniform Rational B-Spline) curve based on ARM9 (Advanced RISC Machines) embedded system and FPGA (Field Programmable Gate Array) | |
| CN112051803B (en) | Small line segment fairing method based on space plane normal vector | |
| CN105607577B (en) | A kind of small line segment transition method based on axial precision | |
| CN105700469A (en) | Cutter location point solving method oriented to triangular mesh curved surface numerical control processing | |
| CN109143965A (en) | The interpolating method and its interpolation system at a kind of spline curve filtering turning | |
| CN102385386B (en) | Line-heating intelligent robot path planning method | |
| CN109697272B (en) | Simple quadratic B-spline curve fitting method | |
| JP6643462B2 (en) | Method, controller, machine, and computer program for providing roaming profile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Nanping Road in Dongling District of Shenyang city of Liaoning Province, No. 110168 16-2 Patentee after: Shenyang Zhongke CNC Technology Co.,Ltd. Address before: Nanping Road in Dongling District of Shenyang city of Liaoning Province, No. 110168 16-2 Patentee before: SHENYANG GOLDING NC & INTELLIGENCE TECH. Co.,Ltd. |