CN109564417A - 样条路径的插补方法及相关设备 - Google Patents

样条路径的插补方法及相关设备 Download PDF

Info

Publication number
CN109564417A
CN109564417A CN201780050306.XA CN201780050306A CN109564417A CN 109564417 A CN109564417 A CN 109564417A CN 201780050306 A CN201780050306 A CN 201780050306A CN 109564417 A CN109564417 A CN 109564417A
Authority
CN
China
Prior art keywords
interpolation
path
point
spline path
parameter
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.)
Granted
Application number
CN201780050306.XA
Other languages
English (en)
Other versions
CN109564417B (zh
Inventor
王伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen A&E Intelligent Technology Institute Co Ltd
Original Assignee
Shenzhen A&E Intelligent Technology Institute Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Shenzhen A&E Intelligent Technology Institute Co Ltd filed Critical Shenzhen A&E Intelligent Technology Institute Co Ltd
Publication of CN109564417A publication Critical patent/CN109564417A/zh
Application granted granted Critical
Publication of CN109564417B publication Critical patent/CN109564417B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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

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)
  • Manipulator (AREA)

Abstract

一种样条路径的插补方法及相关设备，构建第一样条路径、第二样条路径以及连接于第一样条路径的终止点和第二样条路径的起始点之间的直线路径(S11)；对第一样条路径进行速度规划(S12)；根据速度规划设置插补周期和插补步数阈值，并根据插补周期从第一样条路径的起始点的曲线参数开始进行参数插补，以沿第一样条路径获得多个曲线参数，其中插补的终止条件为已经进行的插补步数等于插补步数阈值或者插补获得的曲线参数大于第一样条路径的终止点的曲线参数(S13)；根据最后一次插补所获得的曲线参数、最后一次插补的前一次插补所获得的曲线参数、第一样条路径的终止点的曲线参数以及加速度约束条件设置第一样条路径的最后一个插补点(S14)。采用本发明插补方法，加工质量较好，并且加工速度、加速度平滑。

Description

PCT国内申请，说明书已公开。

Claims (18)

  1. PCT国内申请，权利要求书已公开。
CN201780050306.XA 2017-05-12 2017-05-12 样条路径的插补方法及相关设备 Active CN109564417B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2017/084097 WO2018205248A1 (zh) 2017-05-12 2017-05-12 样条路径的插补方法及相关设备

Publications (2)

Publication Number Publication Date
CN109564417A true CN109564417A (zh) 2019-04-02
CN109564417B CN109564417B (zh) 2021-07-09

Family

ID=64104119

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201780050306.XA Active CN109564417B (zh) 2017-05-12 2017-05-12 样条路径的插补方法及相关设备

Country Status (2)

Country Link
CN (1) CN109564417B (zh)
WO (1) WO2018205248A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114019911A (zh) * 2021-11-03 2022-02-08 天津理工大学 一种基于速度规划的曲线拟合方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN111709095B (zh) * 2020-05-27 2022-08-16 华中科技大学 一种面向复杂曲面6d虚拟夹具构造方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6782306B2 (en) * 1999-12-16 2004-08-24 Siemens Energy & Automation Motion control system and method utilizing spline interpolation
CN101109948A (zh) * 2007-08-01 2008-01-23 暨南大学 一种非均匀有理b样条曲线插补与位置跟踪方法
CN101957611A (zh) * 2009-07-16 2011-01-26 中国科学院沈阳计算技术研究所有限公司 样条曲线实时插补方法
CN104678899A (zh) * 2015-02-11 2015-06-03 北京配天技术有限公司 曲线速度规划方法、装置及其数控加工路径数据处理方法

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104678894B (zh) * 2015-02-11 2017-10-03 北京配天技术有限公司 数控加工路径的规划方法、数控加工系统和方法
CN104898577B (zh) * 2015-04-08 2020-02-11 北京配天技术有限公司 S形曲线速度规划方法、装置及数控方法和数控机床

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6782306B2 (en) * 1999-12-16 2004-08-24 Siemens Energy & Automation Motion control system and method utilizing spline interpolation
CN101109948A (zh) * 2007-08-01 2008-01-23 暨南大学 一种非均匀有理b样条曲线插补与位置跟踪方法
CN101957611A (zh) * 2009-07-16 2011-01-26 中国科学院沈阳计算技术研究所有限公司 样条曲线实时插补方法
CN104678899A (zh) * 2015-02-11 2015-06-03 北京配天技术有限公司 曲线速度规划方法、装置及其数控加工路径数据处理方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114019911A (zh) * 2021-11-03 2022-02-08 天津理工大学 一种基于速度规划的曲线拟合方法

Also Published As

Publication number Publication date
WO2018205248A1 (zh) 2018-11-15
CN109564417B (zh) 2021-07-09

Similar Documents

Publication Publication Date Title
CN107850887B (zh) S型曲线规划方法、装置及数控机床
CN108549328B (zh) 自适应速度规划方法及系统
CN107671859B (zh) 基于s曲线加减速的运动目标动态跟踪方法、系统及装置
CN109564417A (zh) 样条路径的插补方法及相关设备
WO2021004218A1 (zh) 机床运动轨迹的控制方法及装置、存储介质、处理器
CN104678899A (zh) 曲线速度规划方法、装置及其数控加工路径数据处理方法
WO2018205276A1 (zh) 运动轨迹平滑转接的方法和装置及其相关设备
CN107844058B (zh) 一种运动曲线离散动态规划方法
CN112147994B (zh) 一种机器人及其回充控制方法和装置
CN111427361A (zh) 一种回充方法、回充装置及机器人
CN109683615B (zh) 机器人连续运动的路径的速度前瞻方法及机器人控制器
CN110757455A (zh) 一种速度规划方法
CN107710084A (zh) 一种加工路径规划方法、加工路径规划装置及数控机床
CN109313429B (zh) S型速度规划方法、装置、系统、机器人以及数控机床
CN112947296B (zh) 一种五轴速度规划方法、装置、计算机设备和存储介质
CN113495531B (zh) 数控模型的速度控制方法、装置、计算机设备和存储介质
CN110815219B (zh) 一种轨迹跟踪方法、装置、电子设备及存储介质
CN109164754B (zh) 一种伺服驱动器位置命令的平滑方法及其控制装置
CN112720492A (zh) 多轴机器人的复杂轨迹光顺方法、装置、介质及电子设备
CN111670093B (zh) 机器人的运动控制方法、控制系统和存储装置
US9905264B2 (en) Servo control system having function of switching learning memory
CN108847807A (zh) 电机的运动轨迹的规划方法、装置、设备以及存储介质
CN110323993A (zh) 一种多目标约束下平面电机的控制方法及终端设备
CN110968045A (zh) 移动目标的速度控制方法、装置和可读存储介质
US8788099B2 (en) Position-based step control algorithm for a motion control system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
CB02 Change of applicant information
CB02 Change of applicant information

Address after: 518063 23 Floor (Room 2303-2306) of Desai Science and Technology Building, Yuehai Street High-tech Zone, Nanshan District, Shenzhen City, Guangdong Province

Applicant after: Shenzhen AANDE Intelligent Technology Research Institute Co., Ltd.

Address before: 518104 Shajing Industrial Co., Ltd. No. 3 Industrial Zone, Hexiang Road, Shajing Street, Baoan District, Shenzhen City, Guangdong Province

Applicant before: Shenzhen AANDE Intelligent Technology Research Institute Co., Ltd.

SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant