CN110488758A - A kind of track transition method based on PLCopen specification - Google Patents
A kind of track transition method based on PLCopen specification Download PDFInfo
- Publication number
- CN110488758A CN110488758A CN201910732642.3A CN201910732642A CN110488758A CN 110488758 A CN110488758 A CN 110488758A CN 201910732642 A CN201910732642 A CN 201910732642A CN 110488758 A CN110488758 A CN 110488758A
- Authority
- CN
- China
- Prior art keywords
- cenp
- transition
- curve
- circle
- center
- 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
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
Abstract
The invention discloses a kind of track transition methods based on PLCopen specification, are applied to motion control field, track transition is realized by the way of circular interpolation；Following steps are specifically included, S1: obtaining the curve type of present instruction and next instruction from the instruction buffer of motion controller, constituted the curve type combination between adjacent track, connected between adjacent track using transition arc；S2: combining according to curve type, establishes the constraint equation about transition arc parameter；S3: constraint equation is solved, obtains transition arc parameter；S4: carrying out trajectory planning to transition arc by the way of S curve, re-maps to each independent axes of cartesian coordinate system, realizes the circular interpolation between adjacent track.The present invention realizes track transition by the way of circular interpolation, and easement curve contour accuracy is controllable, continual curvature, interpolation rate transitions smooth, while standardizing in strict conformity with PLCopen, has outstanding versatility, has wide range of applications.
Description
Technical field
The invention belongs to motion profile transient modes, and in particular to a kind of track transition method based on PLCopen specification.
Background technique
With the development of popular motion control industry, normative requirement is more paid attention to, and each class standard becomes increasingly abundant
With it is perfect, wherein IEC61131-3 has become the international standard of industrial control system standardizing programming language, the market adapted to
Field constantly expands, and the product of use or application the programming language standard also has become the main trend of industrial control field.
PLCopen tissue is one to be dedicated to the standardized international organizations of programming language, on the basis of IEC standard, is increased
5 standards for having added motion control function to customize also greatly are advised while further pushing programmable controller software development
Model motion control field market.Currently, existing multiple commercial vendors are proposed the product for meeting its functional module standard, the standard
It has obtained to market and has been widely recognized as.The standard criterion 5 kinds of modes of track transition: TMNone, TMStartVelocity,
TMConstantVelocity, TMCornerVelocity and TMCornerDeviation；It can support this this 5 completely at present
The manufacturer of kind transient mode, especially TMCornerDeviation are considerably less, product maturity shortcoming.
Also, it is embodied in special computer for special use for the research of track transition, such as " a kind of to be packaged into what PLCopen was instructed more
Gear shift curve circular arc high speed interpolation method " Chinese patent, Authorization Notice No. CN103454979B, only from the angle of circular interpolation
It is discussed, does not embody the content of track transition；" the small line segment real-time smooth transition interpolation of high-speed, high precision numerical control processing
Method " Chinese patent, Authorization Notice No. CN103699056B realizes track worst error using B-spline Curve about
The transition of beam, however the patent only discuss between straight line and straight line by transition, while utilizing circular arc approximate calculation control point etc.
Information will lead to velocity deviation when interpolation, and batten intermediate track can not be prejudged intuitively.It is " a kind of to be inserted based on nurbs curve
The speed smooth transition method of benefit " Chinese patent application, application publication number CN107291047A, then using nurbs curve come
Be fitted specified profile, but this and do not meet PLCopen track transition specification.
Summary of the invention
It is an object of the invention in view of the above problems and insufficient, a kind of rail based on PLCopen specification is proposed
Mark transition method, realizes track transition by the way of circular interpolation, and easement curve contour accuracy is controllable, continual curvature, interpolation
Speed transitions smooth, while being standardized in strict conformity with PLCopen, there is outstanding versatility, have wide range of applications.
To achieve the goals above, the technical solution adopted by the present invention is that: it is a kind of based on PLCopen specification track transition
Method is applied to motion control field, track transition is realized by the way of circular interpolation；Specifically includes the following steps:
S1: obtaining the curve type of present instruction and next instruction from the instruction buffer of motion controller, constitutes phase
Curve type between adjacent track combines, and is connected between adjacent track using transition arc；
S2: combining according to curve type, establishes the constraint equation about transition arc parameter；
S3: constraint equation is solved, obtains transition arc parameter；
S4: by the way of S curve to transition arc carry out trajectory planning, re-map to cartesian coordinate system it is each solely
Vertical shaft realizes the circular interpolation between adjacent track.
Further, the curve type combination of step S1 includes straight line and straight line, straight line and curve, curve and straight line and song
Line and curve combination；
When curve type group is combined into straight line and straight line, i.e. present instruction represents straight line of the starting point as S1, terminal as E1, under
One instruction represents straight line of the starting point as S2, terminal as E2, and E1 and S2 are same point and are curve transition corner；At this point, step
The constraint equation of S2 are as follows:
Dist (CenP, transition arc)=Radius； (1)
Dist (CenP, E1)=Radius+MaxDev； (2)
Wherein, CenP is the center of circle of transition arc, and Radius is the radius of transition arc；Dist (CenP, transition arc)
For the distance of any point on the center of circle CenP to transition arc of transition arc, Dist (CenP, E1) is the center of circle of transition arc
The distance of CenP to curve transition corner E1, MaxDev are maximum allowable corner deviation；
When curve type group is combined into straight line and curve, i.e. present instruction represents straight line of the starting point as S1, terminal as E1, under
One instruction represents circular arc of the center of circle as PostCenP, radius as PostRadius, starting point as S2, terminal as E2, and E1 and S2 are
Same point and be curve transition corner；
At this point, the constraint equation of step S2 are as follows:
Dist (CenP, transition arc)=Radius； (3)
Dist (CenP, PostCenP)=Radius+PostRadius； (4)
Dist (CenP, E1)=Radius+MaxDev； (5)
Wherein, CenP is the center of circle of transition arc, and Radius is the radius of transition arc；Dist (CenP, transition arc)
For the distance of any point on the center of circle CenP to transition arc of transition arc, Dist (CenP, PostCenP) is transition arc
The distance of center of circle CenP to next section instruction center of circle PostCenP, Dist (CenP, E1) are the center of circle CenP of transition arc to bent
The distance of line transition corner E1, MaxDev are maximum allowable corner deviation；
When curve type group is combined into curve and when straight line, i.e., present instruction represent the center of circle as PrevCenP, radius as
The circular arc that PrevRadius, starting point S1, terminal are E1, next instruction represent straight line of the starting point as S2, terminal as E2, E1 and
S2 is same point and is curve transition corner；
At this point, the constraint equation of step S2 are as follows:
Dist (CenP, transition arc)=Radius； (7)
Dist (CenP, PrevCenP)=Radius+PrevRadius； (8)
Dist (CenP, E1)=Radius+MaxDev； (9)
Wherein, CenP is the center of circle of transition arc, and Radius is the radius of transition arc；Dist (CenP, transition arc)
For the distance of any point on the center of circle CenP to transition arc of transition arc, Dist (CenP, PrevCenP) is transition arc
The distance of center of circle CenP to present instruction center of circle PrevCenP, Dist (CenP, E1) are the center of circle CenP of transition arc to curve
The distance of transition corner E1, MaxDev are maximum allowable corner deviation；
When curve type group is combined into curve and when curve, i.e., present instruction represent the center of circle as PrevCenP, radius as
The circular arc that PrevRadius, starting point S1, terminal are E1, next instruction represent the center of circle as PostCenP, radius as
The circular arc that PostRadius, starting point S2, terminal are E2, E1 and S2 are same point and are curve transition corner；
At this point, the constraint equation in step S2 are as follows:
Dist (CenP, PrevCenP)=Radius+PrevRadius； (10)
Dist (CenP, PostCenP)=Radius+PostRadius； (11)
Dist (CenP, E1)=Radius+MaxDev； (12)
Wherein, CenP is the center of circle of transition arc, and Radius is the radius of transition arc；Dist(CenP,PrevCenP)
For the distance of the center of circle CenP to present instruction center of circle PrevCenP of transition arc, Dist (CenP, PostCenP) is transition circle
The distance of the center of circle CenP to next instruction center of circle PostCenP of arc, Dist (CenP, E1) are the center of circle CenP of transition arc
To the distance of curve transition corner E1, MaxDev is maximum allowable corner deviation.
Further, when curve type group is combined into straight line and curve, curve and straight line and curve and curve, at this time about
The constraint equation of transition arc solves in such a way that analytic method and iterative method combine, specifically:
Multivariable nonlinearity equation group F (x)=0 about transition arc center of circle Cenp is established according to constraint equation, wherein
X=(CenP [0], CenP [1], CenP [2]), Cenp [0], Cenp [1] and Cenp [2] respectively represent transition arc center of circle Cenp
X-axis, Y-axis and Z axis coordinate；
Calculating is iterated using following alternative manner:
x(k+1)=x(k)-F'(x(k))-1F(x(k)), k=0,1 ..., (6)
Wherein, F' is the Jacobian matrix of F；The initial value x of iteration is set(0)For the curve transition corner of adjacent track
Coordinate；To solve the numerical solution and starting point E1 ' and terminal S2 ' of the center of circle Cenp of transition arc.
Beneficial effects of the present invention: (1) it the present invention is based on constraint in PLCopen specification to track transient mode, uses
The form of arc transition sets maximum allowable corner deviation, and distance is not between guaranteeing the transition arc and corner between each orbit segment
More than setting maximum allowable offset, the smooth transition between track is realized, while guaranteeing that transition arc contour accuracy is controllable, curvature
Continuously, interpolation rate is smoothly without mutation.
(2) present invention can support smooth between straight line and straight line, straight line and circular arc, circular arc and straight line and circular arc and circular arc
Transition can be widely applied to the track transition of the application scenarios such as cutting, engraving, welding, carrying.
(3) present invention passes through the assembled classification of adjacent track half interval contour, limits different constraint condition, builds equation group,
Through analytic method in conjunction with numerical method, starting point, terminal and the center of circle of transition arc are obtained, track transition problem is converted to simply
Circular interpolation problem, track can intuitively prejudge, and be convenient for engineer application.
Detailed description of the invention
Fig. 1 is the flow chart of the track transition method of the present invention based on PLCopen specification；
Fig. 2 is straight line of the present invention and straight transitions schematic diagram；
Fig. 3 is straight line of the present invention and curve transition schematic diagram；
Fig. 4 is curve of the present invention and straight transitions schematic diagram；
Fig. 5 is curve of the present invention and curve transition schematic diagram；
Fig. 6 is the objective contour curve of the embodiment of the present invention 1 and the profile song using track transition method of the present invention acquisition
The contrast schematic diagram of line；
Fig. 7 is 1 synthetic interpolation speed schematic diagram of the embodiment of the present invention.
Specific embodiment
To keep the content of the invention clearer, with reference to the accompanying drawing, to the specific embodiment of the invention
It is described in further detail.It should be noted that for purposes of clarity, being omitted in attached drawing and explanation unrelated with the invention
, the expression and description of component known to persons of ordinary skill in the art.
Embodiment 1:
A kind of track transition method based on PLCopen specification provided by the invention, is applied to motion control field, uses
The mode of circular interpolation realizes track transition；Specifically includes the following steps:
S1: obtaining the curve type of present instruction and next instruction from the instruction buffer of motion controller, constitutes phase
Curve type between adjacent track combines, and is connected between adjacent track using transition arc；
S2: combining according to curve type, establishes the constraint equation about transition arc parameter；
S3: constraint equation is solved, obtains transition arc parameter；
S4: by the way of S curve to transition arc carry out trajectory planning, re-map to cartesian coordinate system it is each solely
Vertical shaft realizes the circular interpolation between adjacent track.
Wherein, the curve type combination of step S1 include straight line and straight line, straight line and curve, curve and straight line and curve with
Curve combination；
As shown in Fig. 2, when curve type group is combined into straight line and when straight line, i.e., present instruction represent starting point as S1, terminal as
The straight line of E1, next instruction represent straight line of the starting point as S2, terminal as E2, and E1 and S2 are same point and are that curve transition turns
Angle；At this point, the constraint equation of step S2 are as follows:
Dist (CenP, transition arc)=Radius； (1)
Dist (CenP, E1)=Radius+MaxDev； (2)
Wherein, CenP is the center of circle of transition arc, and Radius is the radius of transition arc；Dist (CenP, transition arc)
For the distance of any point on the center of circle CenP to transition arc of transition arc, Dist (CenP, E1) is the center of circle of transition arc
The distance of CenP to curve transition corner E1, MaxDev are maximum allowable corner deviation；
As shown in figure 3, when curve type group is combined into straight line and when curve, i.e., present instruction represent starting point as S1, terminal as
The straight line of E1, next instruction represent circle of the center of circle as PostCenP, radius as PostRadius, starting point as S2, terminal as E2
Arc, E1 and S2 are same point and are curve transition corner；
At this point, the constraint equation of step S2 are as follows:
Dist (CenP, transition arc)=Radius； (3)
Dist (CenP, PostCenP)=Radius+PostRadius； (4)
Dist (CenP, E1)=Radius+MaxDev； (5)
Wherein, CenP is the center of circle of transition arc, and Radius is the radius of transition arc；Dist (CenP, transition arc)
For the distance of any point on the center of circle CenP to transition arc of transition arc, Dist (CenP, PostCenP) is transition arc
The distance of center of circle CenP to next section instruction center of circle PostCenP, Dist (CenP, E1) are the center of circle CenP of transition arc to bent
The distance of line transition corner E1, MaxDev are maximum allowable corner deviation；
As shown in figure 4, when curve type group is combined into curve and when straight line, i.e., present instruction represent the center of circle as PrevCenP,
The circular arc that radius is PrevRadius, starting point S1, terminal are E1, it is S2, terminal as the straight of E2 that next instruction, which represents starting point,
Line, E1 and S2 are same point and are curve transition corner；
At this point, the constraint equation of step S2 are as follows:
Dist (CenP, transition arc)=Radius； (7)
Dist (CenP, PrevCenP)=Radius+PrevRadius； (8)
Dist (CenP, E1)=Radius+MaxDev； (9)
Wherein, CenP is the center of circle of transition arc, and Radius is the radius of transition arc；Dist (CenP, transition arc)
For the distance of any point on the center of circle CenP to transition arc of transition arc, Dist (CenP, PrevCenP) is transition arc
The distance of center of circle CenP to present instruction center of circle PrevCenP, Dist (CenP, E1) are the center of circle CenP of transition arc to curve
The distance of transition corner E1, MaxDev are maximum allowable corner deviation；
As shown in figure 5, when curve type group is combined into curve and when curve, i.e., present instruction represent the center of circle as PrevCenP,
The circular arc that radius is PrevRadius, starting point S1, terminal are E1, next instruction represent the center of circle as PostCenP, radius as
The circular arc that PostRadius, starting point S2, terminal are E2, E1 and S2 are same point and are curve transition corner；
At this point, the constraint equation in step S2 are as follows:
Dist (CenP, PrevCenP)=Radius+PrevRadius； (10)
Dist (CenP, PostCenP)=Radius+PostRadius； (11)
Dist (CenP, E1)=Radius+MaxDev； (12)
Wherein, CenP is the center of circle of transition arc, and Radius is the radius of transition arc；Dist(CenP,PrevCenP)
For the distance of the center of circle CenP to present instruction center of circle PrevCenP of transition arc, Dist (CenP, PostCenP) is transition circle
The distance of the center of circle CenP to next instruction center of circle PostCenP of arc, Dist (CenP, E1) are the center of circle CenP of transition arc
To the distance of curve transition corner E1, MaxDev is maximum allowable corner deviation.
In the present embodiment, it is assumed that the form of the center of circle CenP of transition arc is CenP [3], respectively indicates X-axis, Y-axis and Z axis
Coordinate, Dist (a, b) indicate the distance between a, b, and wherein a, b can be point or curve；By taking two-dimensional space as an example, when a and b is a little
When,When a is point, and b is straight line, the expression formula of b is enabled to be
Ax+By+C=0, thenFabs represents absolute value.
When curve type group is combined into straight line and straight line, formula (1) is substituted into formula (2), it is public using One- place 2-th Order rooting
Formula can directly obtain the closed solutions and starting point E1 ' and terminal S2 ' of transition arc center of circle CenP；
When curve type group is combined into straight line and curve, curve and straight line and curve and curve, at this time about transition arc
Constraint equation solved in such a way that analytic method and iterative method combine, by taking straight line is combined with curve type as an example, specifically:
Formula (3) are substituted into formula (4) and formula (5), establish the multivariable nonlinearity about transition arc center of circle Cenp
Equation group F (x)=0, wherein x=(CenP [0], CenP [1], CenP [2]), Cenp [0], Cenp [1] and Cenp [2] are respectively
Represent the X-axis of transition arc center of circle Cenp, the coordinate of Y-axis and Z axis；
Calculating is iterated using following alternative manner:
x(k+1)=x(k)-F'(x(k))-1F(x(k)), k=0,1 ..., (6)
Wherein, F' is the Jacobian matrix of F；The initial value x of iteration is set(0)For the curve transition corner of adjacent track
(E1/S2) coordinate；To solve the numerical solution and starting point E1 ' and terminal S2 ' of the center of circle Cenp of transition arc.Similarly, bent
It is identical when the solution mode and straight line of constraint equation are with curve when line type is curve and straight line and curve and curve, it is all benefit
It is solved with corresponding constraint equation and formula (6).
In step S4, need to be arranged S curve planning constraint of velocity Velocity, acceleration constraint Acceleration,
Deceleration constrains Deceleration and accelerates constraint Jerk, to carry out trajectory planning to the transition arc solved；Simultaneously
It may be according to other constraints, as prediction processing, the high error of most longbow etc. are excellent to input numerical value (transition arc parameter) progress
Change, does not do any range at this and limit.
As shown in fig. 6, the present invention provides an embodiment using track transition method of the present invention, curve 1 is target wheel
Wide curve, curve 2 are to utilize transition equation contour curve obtained in track of the invention；Wherein, the coordinate of each intersecting point is such as
Under:
P0 [3]={ 0.0,0.0,0.0, }, P1 [3]={ 10000.0,10000.0,0.0 }, P2 [3]=15000.0,
5000.0,0.0 }, P3 [3]={ 25000.0,5000.0,0.0 }, P4 [3]={ 30000.0,5000.0,0.0 }, P5 [3]=
{ 40000.0,10000.0,0.0 }, P6={ 50000.0,0.0,0.0 }.
Setting maximum allowable corner deviation MaxDev is 1000.0, i.e. input parameter Transition Parameter
(transition range) is 1000.0.
Build two dimensional equation according to formula (1) and formula (2), obtain the closed solutions C1 [3] of transition arc center of circle CenP=
{ 10000.0,6585.7864,0.0 }, and then acquisition S1 [3]={ 8292.8932,8292.8932,0.0 }, E1 [3]=
{11707.1068,9292.8932}。
The multivariable nonlinearity equation group that C2 is built according to formula (3), (4) and (5) is solved using the method for formula (6)
Its numerical solution；Wherein, C2 iteration initial value select P2 value, through iteration acquire C2 [3]=14434.2434,6742.6591,
0.0 }, so obtain S2 [3]={ 13845.7926,6154.2078,0.0 }, E2 [3]=15228.4210,6493.9991,
0.0}。
The multivariable nonlinearity equation group that C3 is built according to formula (10), (11) and (12), using formula (6) method,
The iteration initial value of middle C3 chooses P3 value, acquires C3 [3]={ 25000.0,6215.0,0.0 }, and S3 [3]=24878.0488,
6097.5610,0.0 }, E3 [3]={ 25121.9512,6097.5610,0.0 }.
The multivariable nonlinearity equation group that C4 is built according to formula (7), (8) and (9), using the method for formula (6), wherein
The iteration initial value of C4 selects P4 value, acquires C4 [3]={ 35565.7566,6742.6591,0.0 }, and S4 [3]=
{ 34771.5790,6493.9991,0.0 }, E4 [3]={ 36154.2078,6154.2078,0.0 }.
With C1 ask method obtain C5 [3]={ 40000.0,6585.7864,0.0 }, S5 [3]=38292.8932,
8292.8932,0.0 }, E5 [3]={ 41707.1068,8292.8932,0.0 }.More than, that is, solve the circle of 5 sections of transition arcs
The coordinate of the heart, starting point and terminal.
The input parameter of established standards linear interpolation module (MC_MoveLinearRelative) is equal are as follows: speed
Velocity=100.0, acceleration A cceleration=10.0, deceleration Deceleration=10.0, acceleration
Jerk=0.2；The input parameter of established standards circular interpolation module (MC_MoveCircularRelative) are as follows: speed
Velocity=80.0, acceleration A cceleration=5.0, deceleration Deceleration=5.0, acceleration Jerk=
0.1；Trajectory planning is carried out to transition arc using S curve mode, and by profile by way of linear interpolation and circular interpolation
Curve mapping to cartesian coordinate is fastened, and realizes final position interpolation.
As shown in fig. 7, the synthetic interpolation speed smooth transition of the present embodiment is without mutation.
Only express the embodiment of the invention above, the description thereof is more specific and detailed, but can not therefore and
It is interpreted as the limitation to patented invention-creation range.It should be pointed out that for those of ordinary skill in the art, not
Under the premise of being detached from the invention design, various modifications and improvements can be made, these belong to the guarantor of the invention
Protect range.Therefore, the scope of protection shall be subject to the appended claims for the invention patent.
Claims (3)
1. a kind of track transition method based on PLCopen specification, is applied to motion control field, by the way of circular interpolation
Realize track transition；Characterized by comprising the following steps:
S1: the curve type of present instruction and next instruction is obtained from the instruction buffer of motion controller, constitutes adjacent rail
Curve type between mark combines, and is connected between adjacent track using transition arc；
S2: combining according to curve type, establishes the constraint equation about transition arc parameter；
S3: constraint equation is solved, obtains transition arc parameter；
S4: trajectory planning is carried out to transition arc by the way of S curve, is re-mapped to each independence of cartesian coordinate system
Axis realizes the circular interpolation between adjacent track.
2. the track transition method according to claim 1 based on PLCopen specification, it is characterised in that: the song of step S1
Line type combination includes straight line and straight line, straight line and curve, curve and straight line and curve and curve combination；
When curve type group is combined into straight line and straight line, i.e. present instruction represents straight line of the starting point as S1, terminal as E1, next
Instruction represents straight line of the starting point as S2, terminal as E2, and E1 and S2 are same point and are curve transition corner；At this point, step S2
Constraint equation are as follows:
Dist (CenP, transition arc)=Radius； (1)
Dist (CenP, E1)=Radius+MaxDev； (2)
Wherein, CenP is the center of circle of transition arc, and Radius is the radius of transition arc；Dist (CenP, transition arc) was
The distance of any point on the center of circle CenP to transition arc of circular arc is crossed, Dist (CenP, E1) is that the center of circle CenP of transition arc is arrived
The distance of curve transition corner E1, MaxDev are maximum allowable corner deviation；
When curve type group is combined into straight line and curve, i.e. present instruction represents straight line of the starting point as S1, terminal as E1, next
Instruction represents circular arc of the center of circle as PostCenP, radius as PostRadius, starting point as S2, terminal as E2, and E1 and S2 are same
It puts and is curve transition corner；
At this point, the constraint equation of step S2 are as follows:
Dist (CenP, transition arc)=Radius； (3)
Dist (CenP, PostCenP)=Radius+PostRadius； (4)
Dist (CenP, E1)=Radius+MaxDev； (5)
Wherein, CenP is the center of circle of transition arc, and Radius is the radius of transition arc；Dist (CenP, transition arc) was
The distance of any point on the center of circle CenP to transition arc of circular arc is crossed, Dist (CenP, PostCenP) is the center of circle of transition arc
The distance of CenP to next section instruction center of circle PostCenP, Dist (CenP, E1) are the center of circle CenP of transition arc to curve mistake
The distance of corner E1 is crossed, MaxDev is maximum allowable corner deviation；
When curve type group is combined into curve and when straight line, i.e., present instruction represent the center of circle as PrevCenP, radius as
The circular arc that PrevRadius, starting point S1, terminal are E1, next instruction represent straight line of the starting point as S2, terminal as E2, E1 and
S2 is same point and is curve transition corner；
At this point, the constraint equation of step S2 are as follows:
Dist (CenP, transition arc)=Radius； (7)
Dist (CenP, PrevCenP)=Radius+PrevRadius； (8)
Dist (CenP, E1)=Radius+MaxDev； (9)
Wherein, CenP is the center of circle of transition arc, and Radius is the radius of transition arc；Dist (CenP, transition arc) was
The distance of any point on the center of circle CenP to transition arc of circular arc is crossed, Dist (CenP, PrevCenP) is the center of circle of transition arc
The distance of CenP to present instruction center of circle PrevCenP, Dist (CenP, E1) are the center of circle CenP of transition arc to curve transition
The distance of corner E1, MaxDev are maximum allowable corner deviation；
When curve type group is combined into curve and when curve, i.e., present instruction represent the center of circle as PrevCenP, radius as
The circular arc that PrevRadius, starting point S1, terminal are E1, next instruction represent the center of circle as PostCenP, radius as
The circular arc that PostRadius, starting point S2, terminal are E2, E1 and S2 are same point and are curve transition corner；
At this point, the constraint equation in step S2 are as follows:
Dist (CenP, PrevCenP)=Radius+PrevRadius； (10)
Dist (CenP, PostCenP)=Radius+PostRadius； (11)
Dist (CenP, E1)=Radius+MaxDev； (12)
Wherein, CenP is the center of circle of transition arc, and Radius is the radius of transition arc；Dist (CenP, PrevCenP) was
The distance of the center of circle CenP to present instruction center of circle PrevCenP of circular arc is crossed, Dist (CenP, PostCenP) is transition arc
The distance of center of circle CenP to next instruction center of circle PostCenP, Dist (CenP, E1) are the center of circle CenP of transition arc to bent
The distance of line transition corner E1, MaxDev are maximum allowable corner deviation.
3. the track transition method according to claim 2 based on PLCopen specification, it is characterised in that: work as curve type
When group is combined into straight line and curve, curve and straight line and curve and curve, at this time about the constraint equation of transition arc using parsing
The mode that method and iterative method combine solves, specifically:
Multivariable nonlinearity equation group F (x)=0 about transition arc center of circle Cenp is established according to constraint equation, wherein x=
(CenP [0], CenP [1], CenP [2]), Cenp [0], Cenp [1] and Cenp [2] respectively represent the X of transition arc center of circle Cenp
The coordinate of axis, Y-axis and Z axis；
Calculating is iterated using following alternative manner:
x(k+1)=x(k)-F'(x(k))-1F(x(k)), k=0,1 ..., (6)
Wherein, F ' is the Jacobian matrix of F；The initial value x of iteration is set(0)For the coordinate of the curve transition corner of adjacent track；
To solve the numerical solution and starting point E1 ' and terminal S2 ' of the center of circle Cenp of transition arc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910732642.3A CN110488758B (en) | 2019-08-09 | 2019-08-09 | Trajectory transition method based on PLCopen specification |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910732642.3A CN110488758B (en) | 2019-08-09 | 2019-08-09 | Trajectory transition method based on PLCopen specification |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110488758A true CN110488758A (en) | 2019-11-22 |
| CN110488758B CN110488758B (en) | 2021-05-25 |
Family
ID=68550438
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910732642.3A Active CN110488758B (en) | 2019-08-09 | 2019-08-09 | Trajectory transition method based on PLCopen specification |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110488758B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111580453A (en) * | 2020-05-26 | 2020-08-25 | 南大傲拓科技江苏股份有限公司 | PLC-based implementation method for improving precision of two-dimensional circular interpolation track |
| CN112547425A (en) * | 2020-12-08 | 2021-03-26 | 深圳市华成工业控制股份有限公司 | Track look-ahead-based dispenser motion planning method and system |
| CN116149260A (en) * | 2023-01-31 | 2023-05-23 | 苏州浩智工业控制技术有限公司 | Method and system for smooth transition between arcs in 3C metal processing |
Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58101303A (en) * | 1981-12-10 | 1983-06-16 | Yaskawa Electric Mfg Co Ltd | Track interpolating system of automatic position controller |
| KR20100002512A (en) * | 2008-06-30 | 2010-01-07 | 삼성중공업 주식회사 | Method for automatic tracking of welding line through arc-sensor calibration |
| CN101995850A (en) * | 2010-11-05 | 2011-03-30 | 江俊逢 | Computer aided numerical control method and system |
| CN102298358A (en) * | 2011-04-30 | 2011-12-28 | 上海交通大学 | NURBS tool path speed planning method for five-axis numerical control machining |
| CN102452042A (en) * | 2010-10-28 | 2012-05-16 | 西门子工厂自动化工程有限公司 | Machining method and device |
| CN102722140A (en) * | 2012-06-21 | 2012-10-10 | 中国科学院数学与系统科学研究院 | Multi-period corner small straight-line segment interpolation method based on S curve acceleration/deceleration control |
| CN102799145A (en) * | 2012-08-13 | 2012-11-28 | 中国科学院数学与系统科学研究院 | S-curve acceleration linear interpolation method adopting multi-period constant-acceleration transition for corner |
| CN102962549A (en) * | 2012-11-26 | 2013-03-13 | 清华大学 | Robot control method for welding along any curve trace in vertical plane |
| CN103064344A (en) * | 2012-12-25 | 2013-04-24 | 广东省自动化研究所 | Non uniform rational B spline (NURBS) interpolation based speed smooth control method |
| CN103268081A (en) * | 2013-03-25 | 2013-08-28 | 昆山天大精益数控科技发展有限公司 | Precision error control based orbit segment transfer processing algorithm for numerical control machine tool |
| CN103403630A (en) * | 2011-03-15 | 2013-11-20 | 欧姆龙株式会社 | Computation unit, output control method, and program |
| CN103454979A (en) * | 2013-09-11 | 2013-12-18 | 大连理工计算机控制工程有限公司 | Quick variable-speed curve circular interpolation method packaged into PLCopen instruction |
| CN104191428A (en) * | 2014-08-27 | 2014-12-10 | 深圳科瑞技术股份有限公司 | Movement path planning method and system based on SCARA |
| CN105710881A (en) * | 2016-03-16 | 2016-06-29 | 杭州娃哈哈精密机械有限公司 | Continuous trajectory planning transition method for robot tail end |
| CN106527351A (en) * | 2015-09-10 | 2017-03-22 | 沈阳高精数控智能技术股份有限公司 | Small-line real-time interpolation method for dynamically determining length of transition curve |
| CN106940555A (en) * | 2016-01-04 | 2017-07-11 | 西门子工厂自动化工程有限公司 | Programmable logic controller (PLC), the motion control method based on PLC |
| CN107980108A (en) * | 2017-01-04 | 2018-05-01 | 深圳配天智能技术研究院有限公司 | Robot motion's method for planning track and relevant apparatus |
| EP3358079A1 (en) * | 2017-02-06 | 2018-08-08 | HP3 Real GmbH | Method and device for optimising a track bed |
| CN108549322A (en) * | 2018-04-11 | 2018-09-18 | 广州启帆工业机器人有限公司 | Pose synchronization method and device for arc track motion of robot |
| CN108829031A (en) * | 2018-06-29 | 2018-11-16 | 深圳市汇川技术股份有限公司 | Local Fairing transition method, equipment and storage medium between track |
| CN108941845A (en) * | 2018-08-28 | 2018-12-07 | 苏州艾利特机器人有限公司 | A kind of arc welding robot space circular arc pendulum weldering interpolating method |
| CN109664303A (en) * | 2019-02-28 | 2019-04-23 | 武汉工程大学 | A kind of four smooth orbit generation methods of shaft industrial robot B-spline transition type that error is controllable |
-
2019
- 2019-08-09 CN CN201910732642.3A patent/CN110488758B/en active Active
Patent Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58101303A (en) * | 1981-12-10 | 1983-06-16 | Yaskawa Electric Mfg Co Ltd | Track interpolating system of automatic position controller |
| KR20100002512A (en) * | 2008-06-30 | 2010-01-07 | 삼성중공업 주식회사 | Method for automatic tracking of welding line through arc-sensor calibration |
| CN102452042A (en) * | 2010-10-28 | 2012-05-16 | 西门子工厂自动化工程有限公司 | Machining method and device |
| CN101995850A (en) * | 2010-11-05 | 2011-03-30 | 江俊逢 | Computer aided numerical control method and system |
| CN103403630A (en) * | 2011-03-15 | 2013-11-20 | 欧姆龙株式会社 | Computation unit, output control method, and program |
| CN102298358A (en) * | 2011-04-30 | 2011-12-28 | 上海交通大学 | NURBS tool path speed planning method for five-axis numerical control machining |
| CN102722140A (en) * | 2012-06-21 | 2012-10-10 | 中国科学院数学与系统科学研究院 | Multi-period corner small straight-line segment interpolation method based on S curve acceleration/deceleration control |
| CN102799145A (en) * | 2012-08-13 | 2012-11-28 | 中国科学院数学与系统科学研究院 | S-curve acceleration linear interpolation method adopting multi-period constant-acceleration transition for corner |
| CN102962549A (en) * | 2012-11-26 | 2013-03-13 | 清华大学 | Robot control method for welding along any curve trace in vertical plane |
| CN103064344A (en) * | 2012-12-25 | 2013-04-24 | 广东省自动化研究所 | Non uniform rational B spline (NURBS) interpolation based speed smooth control method |
| CN103268081A (en) * | 2013-03-25 | 2013-08-28 | 昆山天大精益数控科技发展有限公司 | Precision error control based orbit segment transfer processing algorithm for numerical control machine tool |
| CN103454979A (en) * | 2013-09-11 | 2013-12-18 | 大连理工计算机控制工程有限公司 | Quick variable-speed curve circular interpolation method packaged into PLCopen instruction |
| CN104191428A (en) * | 2014-08-27 | 2014-12-10 | 深圳科瑞技术股份有限公司 | Movement path planning method and system based on SCARA |
| CN106527351A (en) * | 2015-09-10 | 2017-03-22 | 沈阳高精数控智能技术股份有限公司 | Small-line real-time interpolation method for dynamically determining length of transition curve |
| CN106940555A (en) * | 2016-01-04 | 2017-07-11 | 西门子工厂自动化工程有限公司 | Programmable logic controller (PLC), the motion control method based on PLC |
| CN105710881A (en) * | 2016-03-16 | 2016-06-29 | 杭州娃哈哈精密机械有限公司 | Continuous trajectory planning transition method for robot tail end |
| CN107980108A (en) * | 2017-01-04 | 2018-05-01 | 深圳配天智能技术研究院有限公司 | Robot motion's method for planning track and relevant apparatus |
| EP3358079A1 (en) * | 2017-02-06 | 2018-08-08 | HP3 Real GmbH | Method and device for optimising a track bed |
| CN108549322A (en) * | 2018-04-11 | 2018-09-18 | 广州启帆工业机器人有限公司 | Pose synchronization method and device for arc track motion of robot |
| CN108829031A (en) * | 2018-06-29 | 2018-11-16 | 深圳市汇川技术股份有限公司 | Local Fairing transition method, equipment and storage medium between track |
| CN108941845A (en) * | 2018-08-28 | 2018-12-07 | 苏州艾利特机器人有限公司 | A kind of arc welding robot space circular arc pendulum weldering interpolating method |
| CN109664303A (en) * | 2019-02-28 | 2019-04-23 | 武汉工程大学 | A kind of four smooth orbit generation methods of shaft industrial robot B-spline transition type that error is controllable |
Non-Patent Citations (1)
| Title |
|---|
| 徐胜华，等: "基于ＰＬＣｏｐｅｎ的六轴工业机器人运动控制功能块设计", 《计算机测量与控制》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111580453A (en) * | 2020-05-26 | 2020-08-25 | 南大傲拓科技江苏股份有限公司 | PLC-based implementation method for improving precision of two-dimensional circular interpolation track |
| CN111580453B (en) * | 2020-05-26 | 2023-03-31 | 傲拓科技股份有限公司 | PLC-based implementation method for improving precision of two-dimensional circular interpolation track |
| CN112547425A (en) * | 2020-12-08 | 2021-03-26 | 深圳市华成工业控制股份有限公司 | Track look-ahead-based dispenser motion planning method and system |
| CN116149260A (en) * | 2023-01-31 | 2023-05-23 | 苏州浩智工业控制技术有限公司 | Method and system for smooth transition between arcs in 3C metal processing |
| CN116149260B (en) * | 2023-01-31 | 2024-04-05 | 苏州浩智工业控制技术有限公司 | Method and system for smooth transition between arcs in 3C metal processing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110488758B (en) | 2021-05-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106826829B (en) | A kind of industrial robot fairing motion profile generation method of Controllable Error | |
| Affouard et al. | Avoiding 5-axis singularities using tool path deformation | |
| CN110488758A (en) | A kind of track transition method based on PLCopen specification | |
| Bi et al. | Analytical curvature-continuous dual-Bézier corner transition for five-axis linear tool path | |
| Castagnetti et al. | The domain of admissible orientation concept: a new method for five-axis tool path optimisation | |
| US8000818B1 (en) | Systems and methods for coordination motion instructions | |
| Lavernhe et al. | Optimization of 5-axis high-speed machining using a surface based approach | |
| CA2408335C (en) | Method and system for controlling a machine tool with direct transfer of machining data | |
| CN102147600B (en) | Numerical control interpolation system for real-time generation of curvature-continuous path | |
| CN106647623B (en) | The smooth interpolating method of five-axle linkage that a kind of geometric accuracy and linking speed optimize | |
| JP2001092516A (en) | Numerically controlled curved surface working device | |
| CN111775145B (en) | Control system of serial-parallel robot | |
| CN113359607B (en) | Track determination method applied to corner transition of five-axis numerical control machine | |
| CN103901822A (en) | Multi-shaft linkage motion control system | |
| CN102707671A (en) | Processing path optimization method applied to machine tool | |
| CN107450466A (en) | A kind of pressing robot controller and its high-speed smooth control method | |
| CN114571452A (en) | Industrial robot trajectory planning method, electronic device and readable storage medium | |
| CN111283683A (en) | Servo tracking accelerated convergence method for robot visual feature planning track | |
| CN108490874B (en) | Nonlinear PID cross-coupling control method of biaxial motion control system | |
| CN102478832A (en) | Three-dimensional circular interpolation method capable of realizing curved surface machining of numerical control machine and device | |
| CN114115131A (en) | Time spline curve fitting and interpolation method applied to five-axis numerical control machine tool | |
| CN108490887A (en) | One kind remanufacturing robot controller and its control method | |
| CN112405525B (en) | Singular position avoiding method, system, equipment and computer readable storage medium | |
| CN109408991A (en) | A kind of model parameter visualization processing method based on FANUC PICTURE man-machine interface | |
| Liang et al. | Design and implementation of multi-axis real-time synchronous look-ahead trajectory planning algorithm |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |