CN109799785B - Spline curve positioning method and storage medium - Google Patents
Spline curve positioning method and storage medium Download PDFInfo
- Publication number
- CN109799785B CN109799785B CN201711164921.1A CN201711164921A CN109799785B CN 109799785 B CN109799785 B CN 109799785B CN 201711164921 A CN201711164921 A CN 201711164921A CN 109799785 B CN109799785 B CN 109799785B
- Authority
- CN
- China
- Prior art keywords
- vector
- spline curve
- array
- obtaining
- node
- 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
Images
Landscapes
- Image Generation (AREA)
Abstract
The embodiment of the invention discloses a spline curve positioning method, and belongs to the technical field of planning algorithms. A spline curve positioning method, comprising: a type value point array Sj is obtained. And obtaining a node vector array u [ m ] according to the type value point array S [ j ]. And obtaining a control point array P [ n ] according to the type value point array S [ j ] and the node vector array u [ m ]. And obtaining a spline curve C [ u ] by the node vector array u [ m ] and the control point array P [ n ]. And obtaining a fitting multi-segment line L [ n ] according to the spline curve C [ u ]. And planning the speed according to the fitting multi-segment line L [ n ]. The spline curve positioning method of the embodiment of the invention quickly completes positioning planning of spline curve positioning and dispensing, realizes a smooth curve tracing process, and improves the working efficiency of equipment.
Description
Technical Field
The embodiment of the invention relates to the technical field of planning algorithms, in particular to a spline curve positioning method.
Background
In industrial production, work of gluing and reinforcing a plurality of workpieces is often encountered, wherein the difficulty in gluing the gaps of irregular spline curves between the workpieces is faced in production.
The inventor discovers that in the process of researching the application, in the technical field of dispensing, the conventional dispensing machine cannot finish drawing the pattern of the spline curve through effective spline curve positioning, so that manual auxiliary dispensing is required in the process of dispensing workpieces, more manpower and material resources are consumed, and the aim of batch dispensing of the spline curve can not be fulfilled. Therefore, how to quickly complete the positioning planning of spline curve positioning and dispensing becomes an urgent problem to be solved.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is how to quickly complete the positioning planning of spline curve positioning and dispensing.
In order to solve the above technical problem, the spline curve positioning method according to the embodiment of the present invention adopts the following technical solutions.
A spline curve positioning method, comprising:
a type value point array Sj is obtained.
And obtaining a node vector array u [ m ] according to the type value point array S [ j ].
And obtaining a control point array P [ n ] according to the type value point array S [ j ] and the node vector array u [ m ].
And obtaining a spline curve C [ u ] by the node vector array u [ m ] and the control point array P [ n ].
And obtaining a fitting multi-segment line L [ n ] according to the spline curve C [ u ].
And planning the speed according to the fitting multi-segment line L [ n ].
In the implementation of the present invention, the element j in the type point array S [ j ] is ═ 3.
In the implementation of the present invention, obtaining the node vector array u [ m ] according to the type value point array S [ j ], specifically includes:
a1, calculating the total chord length of the spline curve after the elements in the type value point array Sj are connected in sequence;
a2, the relationship between element m in the node vector array u [ m ] and element j in the type value point array S [ j ] is: j + 8;
a3, in order to make the curve start point of the spline curve finally fitted coincide with the first node vector, setting the values of U0 to U j in U m to be 0. And calculating the node vector values from the U [ j +1] nodes, and calculating all the node vector value arrays U [ m ] one by one through an iterative algorithm. The iterative algorithm is as follows: the current node vector value is equal to the vector value of the last node plus the chord length of the current section/total chord length;
a4, in order to make the final point of the spline curve finally fitted coincide with the last node vector, setting the values of U [ m-j ] to U [ m ] in the node vector value array U [ m ] to be 1, and finishing the calculation of the node vector.
In the implementation of the present invention, obtaining the control point array P [ n ] according to the type value point array S [ j ] and the node vector array u [ m ], specifically includes:
b1, calculating alpha, beta and g in the three diagonal matrix corresponding to each node according to the node vector value u [ m ];
b2, correspondingly modifying the corresponding tri-diagonal matrix according to the repetition degree of the node vector;
b3, calculating a P vector, a q vector and a Z vector in the control point according to the three-diagonal matrix parameters alpha, beta and g;
b4, calculating a control point P [ n ] of the spline curve according to the P vector, the q vector and the Z vector, and the specific process is as follows:
b41, determining the value of the last control point as: p [ m ]. x ═ ZX [ m ]; p [ m ] y ═ ZY [ m ];
b42, substituting control point P [ m ] into the following algorithm: p [ i ]. x ═ (ZX [ i ] -Q [ i ]. P [ i +1]. x); p [ i ] y ═ (ZY [ i ] -Q [ i ]. P [ i +1] y), yielding P [ m-1], and then recursion yielding the control point array P [ m ].
In the implementation of the invention, the P vector, the q vector and the Z vector respectively refer to vector components in various directions of X, Y and Z in vector space coordinates of corresponding nodes; the Z vector is divided into ZX and/or ZY.
In the implementation of the present invention, the node vector array u [ m ] and the control point array P [ n ] obtain a spline curve cu, and the specific algorithm is:
wherein, PiIs a preset control point;
is the basis function of the spline curve.
In the implementation of the present invention, a fitting multi-segment line L [ n ] is obtained according to the spline curve cu, and the specific conversion manner includes:
the fitting multi-segment line L [ n ] is used for drawing an image by using a limited number of straight line segments instead of a spline curve C [ u ] under the condition of determining fitting precision;
under the condition of ensuring the preset precision, drawing up a straight line segment L of the current two points through coordinates of the preset two vector points on an X axis and a Y axis.
In an implementation of the present invention, performing velocity planning based on the fitted multi-segment line L [ n ] comprises: and planning an acceleration section, a constant speed section and a deceleration section for the fitting multi-section line L [ n ].
In the implementation of the invention, the planning of the acceleration section, the constant speed section and the deceleration section of the fitted multi-segment line L [ n ] comprises:
c1, using fitting multi-segment line L [ n ], preset speed V and preset acceleration A as input planning parameters;
c2, calculating the total length AL and the acceleration distance SL of the fitting multi-segment line L [ n ];
and C3, calculating the distance TL from the preset line segment to which the multi-segment line L [ n ] is fitted, wherein n is 0.
In the implementation of the present invention, the planning of the acceleration section, the constant speed section and the deceleration section for the fitted multi-segment line L [ n ] further comprises: when TL is less than SL, the acceleration section is set, and the calculation speed is TL/AL V;
when TL is larger than SL and TL is compared with (AL-SL), the speed is calculated to be (AL-TL)/SL-V for the deceleration section;
when TL > SL is a constant speed section, the calculated speed is V.
In the implementation of the invention, a storage medium is characterized in that it stores instructions that, when executed by a processor, cause said processor to carry out a method for spline curve positioning according to any one of claims 1 to 9; the storage medium is used for obtaining a node vector array u [ m ] according to the type value point array Sj, and further obtaining a control point array P [ n ]; and obtaining a spline curve C [ u ] through the control point array P [ n ]. And obtaining a fitting multi-segment line L [ n ] according to the spline curve C [ u ], and simultaneously carrying out speed planning on the fitting multi-segment line L [ n ].
Compared with the prior art, the embodiment of the invention mainly has the following beneficial effects:
the spline curve positioning method provided by the embodiment of the invention comprises the following steps: and obtaining a type value point array Sj, and obtaining a node vector array u [ m ] according to the type value point array Sj. And obtaining a control point array P [ n ] according to the type value point array S [ j ] and the node vector array u [ m ]. And obtaining a spline curve C [ u ] by the node vector array u [ m ] and the control point array P [ n ]. A vector array u [ m ] is obtained through a trigonometric function, a control point array P [ n ] is obtained through the vector array u [ m ], a spline curve C [ u ] is further obtained, and the reliability of conversion from a type value point to the spline curve is enhanced. Then, a fitting multi-segment line L [ n ] is obtained according to the spline curve C [ u ], and speed planning is carried out according to the fitting multi-segment line L [ n ]. The speed planning of the straight line at the specific end is realized by replacing the curve with the straight lines at multiple sections, and the flexibility and the stability of the equipment for dispensing the workpieces are enhanced. In summary, the spline curve positioning method of the embodiment of the invention quickly completes positioning planning of spline curve positioning dispensing, realizes a smooth curve tracing process, and improves the working efficiency of equipment.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
FIG. 1 is a schematic diagram of a spline curve positioning method according to an embodiment of the present invention;
FIG. 2 is a diagram of an example of a spline curve as described in an embodiment of the present invention;
fig. 3 is an exemplary diagram of a spline speed plan as described in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The described embodiments are illustrative of some, but not all possible embodiments of the invention. Other embodiments, which can be derived by any person skilled in the art from the following detailed description of the invention without inventive step, shall fall within the scope of protection of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Any terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present invention.
Referring to fig. 1, a schematic diagram of a spline curve positioning method according to an embodiment of the present invention is shown. The spline curve positioning method in the embodiment of the invention relates to the dispensing processing process of various products, and is used for carrying out regular curve dispensing on gaps of the products and optimizing the dispensing speed.
The spline curve positioning method in the embodiment of the invention comprises the following steps:
step 101: a type value point array Sj is obtained.
Step 102: and obtaining a node vector array u [ m ] according to the type value point array S [ j ].
Step 103: and obtaining a control point array P [ n ] according to the type value point array S [ j ] and the node vector array u [ m ].
Step 104: and obtaining a spline curve C [ u ] by the node vector array u [ m ] and the control point array P [ n ].
Step 105: and obtaining a fitting multi-segment line L [ n ] according to the spline curve C [ u ].
Step 106: and planning the speed according to the fitting multi-segment line L [ n ].
The obtained type value point array Sj is drawn up according to the design requirement of the product, and a spline curve is drawn up by reading the corresponding type value point array Sj. Since the spline curve is positioned with a certain radian, at least 3 predetermined values must be written when designing the spline curve, that is: and the element j in the type value point array S [ j ] is 3.
In step 102 of the embodiment of the present invention, obtaining a node vector array u [ m ] according to the model value point array S [ j ], specifically includes:
a1, calculating the total chord length of the spline curve after the elements in the type value point array Sj are connected in sequence. And forming a processing curve corresponding to the processing process by connecting the type value point arrays Sj, and obtaining the total chord length of the spline curve. In the process, the processing curve is a curve with only a single peak at one end, when the curve is identified as a double-peak curve, the double peaks can be divided into a single-peak curve to obtain the total chord length of the single-peak curve, and the subsequent processing part uses the divided curve segment of the single peak to plan and process in the same way.
A2, the relationship between element m in the node vector array u [ m ] and element j in the type value point array S [ j ] is: and m is j + 8.
A3, in order to make the curve start point of the spline curve finally fitted coincide with the first node vector, setting the values of U0 to U j in U m to be 0. And calculating the node vector values from the U [ j +1] nodes, and calculating all the node vector value arrays U [ m ] one by one through an iterative algorithm. The iterative algorithm is as follows: the current node vector value is equal to the vector value of the last node plus the chord length of the current section/total chord length;
a4, in order to make the final point of the spline curve finally fitted coincide with the last node vector, setting the values of U [ m-j ] to U [ m ] in the node vector value array U [ m ] to be 1, and finishing the calculation of the node vector.
In step 103 of the embodiment of the present invention, a control point array P [ n ] is obtained according to the model value point array S [ j ] and the node vector array u [ m ], which specifically includes:
b1, according to the node vector value u m, transmitting the node vector value u m as an input parameter into a tri-diagonal matrix formula, and calculating alpha, beta and g in the tri-diagonal matrix corresponding to each node through the tri-diagonal matrix formula.
And B2, correspondingly modifying the corresponding three-diagonal matrix according to the repetition degree of the node vector. And modifying the corresponding points of alpha, beta and g according to the relative positions of the adjacent type value points.
B3, calculating a P vector, a q vector and a Z vector in the control point according to the three-diagonal matrix parameters alpha, beta and g. And calculating vector components P, Q and Z in each direction of X, Y and Z in the space coordinates of the corresponding node vectors according to the angle parameters alpha, beta and g of the node vectors. Wherein, P vector, q vector and Z vector refer to X, Y and Z vector components in each direction in the corresponding node vector space coordinate respectively, and the Z vector is divided into ZX and/or ZY.
B4, calculating a control point P [ n ] of the spline curve according to the P vector, the q vector and the Z vector, and the specific process is as follows:
b41, determining the value of the last control point as: p [ m ]. x ═ ZX [ m ]; p [ m ] y ═ ZY [ m ];
b42, substituting control point P [ m ] into the following algorithm: p [ i ]. x ═ (ZX [ i ] -Q [ i ]. P [ i +1]. x); p [ i ] y ═ (ZY [ i ] -Q [ i ]. P [ i +1] y), yielding P [ m-1], and then recursion yielding the control point array P [ m ].
In step 104 of the embodiment of the present invention, the node vector array u [ m ] and the control point array P [ n ] obtain a spline curve cu, and the specific algorithm is:
wherein, PiThe control point is a preset control point, and i contained in the control point is a counting mark.
Is a basis function of a spline curve, containing P as PiOne value of (1). In a spline curve C u]In the conversion process of (1), wherein Ni，p(u) means: when P has a value of 0, PiJudgment N according to a judgment algorithmi，0The value of (u). The judgment algorithm is as follows:
when the value of P is other than 0, obtaining N according to the algorithmi，p(u)：
In step 105 of the present embodiment, a fitting multi-segment line L [ n ] is obtained from the spline curve cu, where the fitting multi-segment line L [ n ] is obtained by tracing the spline curve cu using a plurality of straight line segments, and an image of the spline curve cu is superimposed using the plurality of straight line segments while determining fitting accuracy. Under the condition of ensuring the preset precision, drawing up a straight line segment L of the current two points through coordinates of the preset two vector points on an X axis and a Y axis.
Referring to fig. 2, a diagram of an example of a spline curve is shown in an embodiment of the present invention. An example graph is used to explain how the fitted polyline L [ n ] is scaled from the spline curve C [ u ]. Suppose that the curve in the figure is an actual model of the spline curve cu, where the point t0 and the point t2 are control points, the point t12 is a middle point of the chord length after the point t0 and the point t2 are connected, and the coordinate of t12 is obtained by X and Y axes (t0+ t 2)/2. The point t1 is a coordinate value of the middle point of the total length of the curve t0 and t2, and L is the distance between the point t1 and the point t 12. And judging the relation between the L and the e according to the preset fitting precision e. When L > - [ e ], the coordinate value of the point t1 is assigned to the point t2, and t2 ═ t 1. And stopping calculating to obtain a single straight line L in the fitting multi-segment line L [ n ] until the relation between L and e is judged to be L < e, and obtaining the value of each element in the fitting multi-segment line L [ n ] through a limited number of cycles.
Referring to fig. 3, an exemplary diagram of a spline curve speed plan as described in an embodiment of the present invention. Performing velocity planning based on the fitted multi-segment line L [ n ] comprises: and planning an acceleration section, a constant speed section and a deceleration section for the fitting multi-section line L [ n ]. And performing an acceleration section, a constant speed section and a deceleration section on the fitted multi-section line L [ n ], wherein the planning comprises the following steps:
c1, and taking the fitting multi-segment line L [ n ], the preset speed V and the preset acceleration A as input planning parameters. The preset values of the speed V and the acceleration A are user input parameter values.
C2 calculating fitting multi-segment line L n]Total length AL and acceleration distance SL. By calculation of formula
And obtaining the acceleration distance and the deceleration distance.
And C3, calculating the distance TL from the preset line segment to which the multi-segment line L [ n ] is fitted, wherein n is 0.
And when an acceleration section, a constant speed section and a deceleration section are planned for the fitting multi-section line L [ n ], if TL < SL, the fitting multi-section line is taken as the acceleration section, and the calculated speed is TL/AL V. When TL > SL and TL > (AL-SL) is compared, the velocity is calculated as (AL-TL)/SL x V for the deceleration segment. When TL > SL is a constant speed section, the calculated speed is V. The fitting multi-segment line L [ n ] is planned to be an acceleration segment, a constant speed segment and a deceleration segment so as to enable the starting and stopping of the motor in the dispensing process to be smoother, as shown in the figure.
In addition, a storage medium of a non-transitory computer is further disclosed in the embodiments of the present invention, where the storage medium is used to store computer-executable instructions, and the computer-executable instructions are used to execute any one of the algorithms in the above method embodiments.
The storage medium is used for obtaining a node vector array u [ m ] according to the type value point array Sj, and further obtaining a control point array P [ n ]; and obtaining a spline curve C [ u ] through the control point array P [ n ]. And obtaining a fitting multi-segment line L [ n ] according to the spline curve C [ u ], and simultaneously carrying out speed planning on the fitting multi-segment line L [ n ], thereby realizing the rapid completion of positioning planning of spline curve positioning dispensing, achieving the point tracing process of a smooth curve and further improving the production efficiency of machinery.
The spline curve positioning method provided by the embodiment of the invention mainly has the following technical effects:
the spline curve positioning method provided by the embodiment of the invention comprises the following steps: and obtaining a type value point array Sj, and obtaining a node vector array u [ m ] according to the type value point array Sj. And obtaining a control point array P [ n ] according to the type value point array S [ j ] and the node vector array u [ m ]. And obtaining a spline curve C [ u ] by the node vector array u [ m ] and the control point array P [ n ]. A vector array u [ m ] is obtained through a trigonometric function, a control point array P [ n ] is obtained through the vector array u [ m ], a spline curve C [ u ] is further obtained, and the reliability of conversion from a type value point to the spline curve is enhanced. Then, a fitting multi-segment line L [ n ] is obtained according to the spline curve C [ u ], and speed planning is carried out according to the fitting multi-segment line L [ n ]. The speed planning of the straight line at the specific end is realized by replacing the curve with the straight lines at multiple sections, and the flexibility and the stability of the equipment for dispensing the workpieces are enhanced. In summary, the spline curve positioning method of the embodiment of the invention quickly completes positioning planning of spline curve positioning dispensing, realizes a smooth curve tracing process, and improves the working efficiency of equipment.
It should be understood by those skilled in the art that one spline curve positioning method in the above embodiments may also be implemented in other ways.
Finally, it should be noted that: the above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (7)
1. A spline curve positioning method, comprising:
obtaining a type value point array Sj;
obtaining a node vector array u [ m ] according to the type value point array S [ j ], and specifically comprises the following steps: calculating the total chord length of the spline curve after the elements in the type value point array Sj are connected in sequence; the relationship between the element m in the node vector array u [ m ] and the element j in the type value point array S [ j ] is: j + 8; in order to make the curve starting point of the spline curve finally fitted coincide with the first node vector, setting values from U0 to U j in U m are required to be 0; calculating node vector values from j +1 nodes, and calculating all node vector value arrays u [ m ] one by one through an iterative algorithm; the iterative algorithm is as follows: the current node vector value is equal to the vector value of the last node plus the chord length of the current section/total chord length; in order to make the final point of the spline curve finally fitted coincide with the last node vector, setting the values from U [ m-j ] to U [ m ] in the node vector value array U [ m ] to be 1, and finishing the calculation of the node vector;
obtaining a control point array P [ n ] according to the type value point array S [ j ] and the node vector array u [ m ], and specifically comprising: calculating alpha, beta and Ag in the tri-diagonal matrix corresponding to each node according to the node vector array u [ m ]; correspondingly modifying the corresponding three-diagonal matrix according to the repetition degree of the node vector; based on the tri-diagonal matrix parameters α, β, and Ag; calculating a P vector, a Q vector and a Z vector in the control point; calculating a control point array P [ n ] of the spline curve according to the P vector, the Q vector and the Z vector, wherein the specific process is as follows: determining the value of the last control point as: p [ m ]. x ═ ZX [ m ]; p [ m ] y ═ ZY [ m ]; the control point P [ m ] is substituted into the following algorithm: p [ i ]. x ═ (ZX [ i ] -Q [ i ]. P [ i +1]. x); obtaining P [ m-1] by obtaining P [ i ]. y ═ ZY [ i ] -Q [ i ]. P [ i +1] y, and further obtaining a control point array P [ m ] by recursion, wherein the P vector, the Q vector and the Z vector respectively refer to vector components in X, Y and Z directions in corresponding node vector space coordinates; the Z vector is divided into ZX and/or ZY;
obtaining a spline curve Cu according to the node vector array u [ m ] and the control point array P [ n ];
obtaining a fitting multi-segment line L [ n ] according to the spline curve C [ u ];
planning the speed according to the fitting multi-segment line L [ n ];
where Q [ i ] refers to the Q vector value at control point P [ m ], and U [ j ] refers to the value at point j of node vector array U [ m ].
2. A spline curve positioning method according to claim 1, wherein the element j > -3 in the array of type point S [ j ].
3. The spline curve positioning method according to claim 1, wherein the node vector array u [ m ] and the control point array P [ n ] obtain a spline curve C [ u ], and the specific algorithm is:
wherein, PiIs a preset control point;
4. A spline curve positioning method according to claim 3, wherein a fitted multi-segment line L [ n ] is obtained from the spline curve cu, the specific conversion comprising:
the fitting multi-segment line L [ n ] is an image in which the spline curve Cu is superimposed using a plurality of straight line segments with fitting accuracy determined;
under the condition of ensuring the preset precision, drawing up a straight line segment L of the current two points through coordinates of the preset two vector points on an X axis and a Y axis.
5. The spline curve positioning method of claim 1, wherein performing velocity planning based on the fitted multi-segment line L [ n ] comprises: planning an acceleration section, a constant speed section and a deceleration section for the fitting multi-section line L [ n ];
and performing an acceleration section, a constant speed section and a deceleration section on the fitted multi-section line L [ n ], wherein the planning comprises the following steps:
taking the fitting multi-segment line L [ n ], the preset speed V and the preset acceleration A as input planning parameters;
calculating the total length AL and the acceleration distance SL of the fitting multi-segment line L [ n ];
and calculating the distance TL from the preset line segment to which the multi-segment line L [ n ] is fitted, wherein n > is 0.
6. The spline curve positioning method of claim 5, wherein the planning of the acceleration, constant velocity and deceleration segments of the fitted multi-segment line L [ n ] further comprises: when TL < SL is an acceleration section, calculating the speed as TL/AL V;
when TL > SL and TL > (AL-SL) are compared, the speed is calculated to be (AL-TL)/SL x V for the deceleration section;
when TL > SL is a constant speed section, the calculated speed is V.
7. A storage medium having stored therein instructions which, when executed by a processor, cause the processor to carry out a method for spline curve positioning according to any one of claims 1 to 6;
the storage medium is used for obtaining a node vector array u [ m ] according to the type value point array Sj, and further obtaining a control point array P [ n ]; then obtaining a spline curve Cu through the control point array P [ n ]; and obtaining a fitting multi-segment line L [ n ] according to the spline curve C [ u ], and simultaneously carrying out speed planning on the fitting multi-segment line L [ n ].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711164921.1A CN109799785B (en) | 2017-11-17 | 2017-11-17 | Spline curve positioning method and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711164921.1A CN109799785B (en) | 2017-11-17 | 2017-11-17 | Spline curve positioning method and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109799785A CN109799785A (en) | 2019-05-24 |
| CN109799785B true CN109799785B (en) | 2021-01-26 |
Family
ID=66555100
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711164921.1A Active CN109799785B (en) | 2017-11-17 | 2017-11-17 | Spline curve positioning method and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109799785B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113835423B (en) * | 2020-06-08 | 2024-03-26 | 苏州艾吉威机器人有限公司 | Path planning method, motion control method and system based on B spline curve |
| CN116551457B (en) * | 2023-07-11 | 2023-10-27 | 济南邦德激光股份有限公司 | Method and equipment for connecting and processing straight line segment and circular arc segment through spline curve |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101615024A (en) * | 2009-07-23 | 2009-12-30 | 哈尔滨工业大学 | Five-coordinate numerally controlled machine tool motion controller with NURBS interpolation function |
| CN204374726U (en) * | 2015-02-01 | 2015-06-03 | 张万军 | A kind of digital control system based on B-spline curves high speed real-time interpolation |
| CN106959666A (en) * | 2017-03-31 | 2017-07-18 | 华南理工大学 | A kind of space free curve approximating method based on NURBS |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4932693B2 (en) * | 2007-12-26 | 2012-05-16 | 本田技研工業株式会社 | How to create a mold model |
| KR101743795B1 (en) * | 2013-07-16 | 2017-06-05 | 엘에스산전 주식회사 | Curve interpolation method in positioning control system |
-
2017
- 2017-11-17 CN CN201711164921.1A patent/CN109799785B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101615024A (en) * | 2009-07-23 | 2009-12-30 | 哈尔滨工业大学 | Five-coordinate numerally controlled machine tool motion controller with NURBS interpolation function |
| CN204374726U (en) * | 2015-02-01 | 2015-06-03 | 张万军 | A kind of digital control system based on B-spline curves high speed real-time interpolation |
| CN106959666A (en) * | 2017-03-31 | 2017-07-18 | 华南理工大学 | A kind of space free curve approximating method based on NURBS |
Non-Patent Citations (2)
| Title |
|---|
| "基于三次非均匀B样条曲线的机器人轨迹规划算法研究";赖永林 等;《科学技术与工程》;20131218;第13卷(第35期);10511-10517 * |
| "自由曲面造型方法及数控加工轨迹研究";张喜明;《中国优秀硕士学位论文全文数据库 工程科技Ⅰ辑》;20020615(第1期);B022-205 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109799785A (en) | 2019-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111061213B (en) | Processing method based on Bezier curve corner smooth transition algorithm | |
| KR880002556B1 (en) | Method of forming curved surface | |
| CN109976262B (en) | Global curvature continuous fairing method for micro-line segment processing | |
| CN108062073B (en) | Circular arc smooth compression interpolation method for high-quality machining | |
| CN108073138B (en) | Elliptical arc smooth compression interpolation algorithm suitable for high-speed high-precision machining | |
| CN101539769A (en) | Method for fitting and interpolating G01 code based on quadratic B spline curve | |
| CN109799785B (en) | Spline curve positioning method and storage medium | |
| CN105171743A (en) | Movement track planning method for tail end of stacking manipulator | |
| CN113687629B (en) | Circular arc straight line fitting method, system, equipment and storage medium for laser CAM processing | |
| CN109496286B (en) | Numerical control system, path planning method thereof and computer-readable storage medium | |
| CN105045211A (en) | Equal-chord-error variable-step tangent interpolation method | |
| JPH0373882B2 (en) | ||
| CN109739179B (en) | Interpolation control method and device, computer equipment and readable storage medium | |
| CN109597359A (en) | Numerical control device | |
| CN108170101A (en) | Towards the interpolating method and system of polynomial spline curve | |
| CN115194931B (en) | Planning method, device and equipment for concrete 3D printing path and storage medium | |
| CN111259496A (en) | Curve reconstruction method based on discrete points | |
| CN105447284A (en) | Technical allowance adding method | |
| CN112051803B (en) | Small line segment fairing method based on space plane normal vector | |
| CN104865898A (en) | Method and equipment for processing micro path segment in numerical control machine tool | |
| CN111610751A (en) | Iterative calculation method for repeatedly subdividing interpolation errors of NURBS (non-uniform rational B-spline) interpolation curve of over-point set | |
| CN112906215A (en) | Pipe tool path generation method based on SolidWorks secondary development | |
| CN114488941A (en) | Trace fairing method and medium for micro line segments and machine tool numerical control equipment | |
| CN116339243A (en) | Involute-based numerical control system interpolation curve fitting system and equipment | |
| JPH03259307A (en) | Method for generating sculptured surface working data |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 518000 101-502, No.9, xinbaili Industrial Park, Xinshi community, Dalang street, Longhua District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Tengsheng precision equipment Co., Ltd Address before: 518000 Guangdong city of Shenzhen province Longhua District, Dalang street, Dalang community Huaning road Hualian Industrial Park seventh Applicant before: SHENZHEN TENSUN INDUSTRIAL EQUIPMENT CO., LTD. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |