CN109313428A - 运动轨迹平滑转接的方法和装置及其相关设备 - Google Patents

运动轨迹平滑转接的方法和装置及其相关设备 Download PDF

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Publication number
CN109313428A
CN109313428A CN201780034014.7A CN201780034014A CN109313428A CN 109313428 A CN109313428 A CN 109313428A CN 201780034014 A CN201780034014 A CN 201780034014A CN 109313428 A CN109313428 A CN 109313428A
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curve
track
point
interpolation
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CN109313428B (zh
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王伟
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Shenzhen A&E Intelligent Technology Institute Co Ltd
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Shenzhen A&E Intelligent Technology Institute Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • 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

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  • 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)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

本发明公开了一种运动轨迹平滑转接的方法和装置及其相关设备，该方法包括：获取待平滑转接的第一和第二轨迹以及预设轮廓误差；根据第一和第二轨迹以及预设轮廓误差确定特征插补点的位置；根据第一和第二轨迹、特征插补点以及插补曲线通用方程拟合出连接第一轨迹、特征插补点和第二轨迹的插补曲线。通过上述方式，本发明能够准确的拟合出实现曲率和速度均连续的插补曲线且能够保证设备的轮廓误差。

Description

PCT国内申请，说明书已公开。

Claims (29)

  1. PCT国内申请，权利要求书已公开。
CN201780034014.7A 2017-05-12 2017-05-12 运动轨迹平滑转接的方法和装置及其相关设备 Active CN109313428B (zh)

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PCT/CN2017/084199 WO2018205276A1 (zh) 2017-05-12 2017-05-12 运动轨迹平滑转接的方法和装置及其相关设备

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CN109313428A true CN109313428A (zh) 2019-02-05
CN109313428B CN109313428B (zh) 2022-04-29

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113103240A (zh) * 2021-04-29 2021-07-13 哈尔滨工业大学 用于实现c2连续的机器人轨迹规划方法、装置及系统
CN113504764A (zh) * 2021-06-30 2021-10-15 浙江大学 基于位置矢量加权积分的连续线段数控加工路径平滑方法
CN114434241A (zh) * 2021-12-30 2022-05-06 西门子（中国）有限公司 控制石磨机横梁运动的方法、装置、电子设备及存储介质

Families Citing this family (9)

* Cited by examiner, † Cited by third party
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CN111216119B (zh) * 2018-11-23 2022-04-15 深圳市优必选科技有限公司 机器人关节运动控制方法、装置及终端设备
TWI716127B (zh) * 2019-10-01 2021-01-11 東元電機股份有限公司 機器人及其路徑插值規劃命令產生系統
CN112621739B (zh) * 2019-10-08 2022-03-15 东元电机股份有限公司 机器人及其路径插值规划命令产生系统
CN113450262A (zh) * 2020-03-25 2021-09-28 武汉金山办公软件有限公司 一种实现图像处理的方法、装置、计算机存储介质及终端
CN111958611B (zh) * 2020-07-31 2021-10-08 华中科技大学 考虑轮廓误差最小的铣削加工机器人姿态优化方法及设备
CN113791578B (zh) * 2021-08-23 2023-05-02 五邑大学 基于数控加工系统的轨迹滤波方法、装置和电子设备
CN113741338B (zh) * 2021-09-10 2023-08-22 深圳市英威腾电气股份有限公司 一种运动设备的运行路径控制方法、系统及装置
CN116501071B (zh) * 2023-06-30 2023-09-05 苏州铼钠克信息技术有限公司 近似回折路径的规划方法和装置、电子设备和存储介质
CN117944057A (zh) * 2024-03-26 2024-04-30 北京云力境安科技有限公司 一种机械臂轨迹规划方法、装置、设备及介质

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JPH0764622A (ja) * 1993-08-26 1995-03-10 Matsushita Electric Ind Co Ltd ロボットの軌道補間装置
EP1398680A2 (en) * 1999-11-19 2004-03-17 Siemens Energy & Automation, Inc. Apparatus and method for smooth cornering in a motion control system
CN103699056A (zh) * 2013-12-02 2014-04-02 嘉兴学院 高速高精度数控加工的小线段实时平滑过渡插补方法

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JPH10320026A (ja) * 1997-05-20 1998-12-04 Mitsubishi Electric Corp 数値制御装置及び方法
JP5653972B2 (ja) * 2012-07-19 2015-01-14 ファナック株式会社 コーナ複数曲線挿入部を有する数値制御装置
CN106527351B (zh) * 2015-09-10 2019-01-22 沈阳高精数控智能技术股份有限公司 一种过渡曲线长度动态确定的小线段实时插补方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0764622A (ja) * 1993-08-26 1995-03-10 Matsushita Electric Ind Co Ltd ロボットの軌道補間装置
EP1398680A2 (en) * 1999-11-19 2004-03-17 Siemens Energy & Automation, Inc. Apparatus and method for smooth cornering in a motion control system
CN103699056A (zh) * 2013-12-02 2014-04-02 嘉兴学院 高速高精度数控加工的小线段实时平滑过渡插补方法

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113103240A (zh) * 2021-04-29 2021-07-13 哈尔滨工业大学 用于实现c2连续的机器人轨迹规划方法、装置及系统
CN113504764A (zh) * 2021-06-30 2021-10-15 浙江大学 基于位置矢量加权积分的连续线段数控加工路径平滑方法
CN114434241A (zh) * 2021-12-30 2022-05-06 西门子（中国）有限公司 控制石磨机横梁运动的方法、装置、电子设备及存储介质
CN114434241B (zh) * 2021-12-30 2023-06-02 西门子（中国）有限公司 控制石磨机横梁运动的方法、装置、电子设备及存储介质

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CN109313428B (zh) 2022-04-29

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