JP2001188605A5 - Curve interpolation method and NC controller - Google Patents
Curve interpolation method and NC controller Download PDFInfo
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- JP2001188605A5 JP2001188605A5 JP1999374669A JP37466999A JP2001188605A5 JP 2001188605 A5 JP2001188605 A5 JP 2001188605A5 JP 1999374669 A JP1999374669 A JP 1999374669A JP 37466999 A JP37466999 A JP 37466999A JP 2001188605 A5 JP2001188605 A5 JP 2001188605A5
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Description
【特許請求の範囲】
【請求項１】
各種機械の移動軌跡を制御するモーション制御装置において、
曲線全体を構成する複数の部分曲線ついて、それぞれ代表点を複数個選定して前記代表点の曲率を求め、
ある部分曲線内の任意の２つの代表点の曲率の差が曲率変化許容範囲内に入っていれば、曲率に応じた長さの直線に分割して、直線補間と同様の補間処理を行う
ことを特徴とする曲線補間方法。
【請求項２】
前記ある部分曲線の代表点の少なくとも１点の曲率が前記曲率変化許容範囲内に入っていない場合は、その部分曲線を前記代表点で分割し、分割した曲線を新たな部分曲線として補間処理を行うことを特徴とする請求項１に記載の曲線補間方法。
【請求項３】
全ての前記部分曲線が前記曲率変化許容範囲内に入るまで、部分曲線分割処理を行うことを特徴とする請求項２に記載の曲線補間方法。
【請求項４】
前記部分曲線の前記代表点の個数の変更が可能なことを特徴とする請求項３に記載の曲線補間方法。
【請求項５】
前記曲率変化許容範囲の変更が可能なことを特徴とする請求項３に記載の曲線補間方法。
【請求項６】
前記曲率と分割する直線の長さの対応関係を変更することが可能なことを特徴とする請求項３に記載の曲線補間方法。
【請求項７】
コンピュータに実行させるプログラムを記録し、
前記コンピュータが読み取り可能な記録媒体に収納させた操作手順に従って曲線の補間処理を行う
ことを特徴とする請求項１ないし６のいずれかに記載の曲線補間方法。
【請求項８】
ＮＣデータを入力するＮＣデータ読み込み部と、読み込まれた前記ＮＣデータから求めた制御データを制御データ出力部から出力するＮＣ制御装置において、
前記ＮＣデータ読み込み部がＮＣデータを読み込むと、部分曲線毎に代表点の曲率を計算する曲率計算部と、
前記部分曲線毎に計算された曲率が所定値内にはいっているかどうかを判定する曲率判定部と、
前記曲率が所定値内に入っていなければ当該部分曲線を新たに分割する分割曲線生成部と、
を供えたことを特徴とするＮＣ制御装置。
[Claims]
[Claim 1]
In a motion control device that controls the movement locus of various machines
For a plurality of partial curves constituting the entire curve, a plurality of representative points were selected for each , and the curvature of the representative points was obtained.
If the difference in curvature of any two representative points in a partial curve is within the allowable range of curvature change, divide it into straight lines with a length corresponding to the curvature and perform interpolation processing similar to linear interpolation. A curve interpolation method characterized by.
2.
If the curvature of the at least one point of the representative points of the certain portion curve is not in the curvature change within the permissible range, divides the partial curve in the representative point, the interpolation process the divided curve as a new partial curve The curve interpolation method according to claim 1, wherein the curve interpolation method is performed.
3.
The curve interpolation method according to claim 2, wherein the partial curve division process is performed until all the partial curves fall within the allowable range of curvature change.
4.
The curve interpolation method according to claim 3, wherein the number of the representative points of the partial curve can be changed.
5.
The curve interpolation method according to claim 3, wherein the allowable range of curvature change can be changed.
6.
The curve interpolation method according to claim 3, wherein the correspondence between the curvature and the length of the straight line to be divided can be changed.
7.
Record the program you want your computer to run
The curve interpolation method according to any one of claims 1 to 6, wherein the curve interpolation processing is performed according to an operation procedure stored in a computer-readable recording medium.
8.
In the NC data reading unit for inputting NC data and the NC control device for outputting the control data obtained from the read NC data from the control data output unit.
When the NC data reading unit reads NC data, a curvature calculation unit that calculates the curvature of the representative point for each partial curve, and a curvature calculation unit.
A curvature determination unit that determines whether or not the curvature calculated for each partial curve is within a predetermined value,
If the curvature is not within the predetermined value, the division curve generation unit that newly divides the partial curve and
NC control device characterized by offering.
【０００４】
【課題を解決するための手段】
上記目的を達成するために本発明の請求項１の発明は、各種機械の移動軌跡を制御するモーション制御装置において、曲線全体を構成する複数の部分曲線ついて、それぞれ代表点を複数個選定して前記代表点の曲率を求め、ある部分曲線内の任意の２つの代表点の曲率の差が曲率変化許容範囲内に入っていれば、曲率に応じた長さの直線に分割して、直線補間と同様の補間処理を行うことを特徴とする曲線補間方法である。
このような請求項１の発明によれば、曲線補間形状解析の処理速度が向上することができると共に、曲率が一定範囲内に収まる曲線を直線に分割して置き換えることにより、直線補間と同様の処理をすることができ、従来の直線補間に帰着することができるという特段の効果を奏する。従来直線補間で採用していた加減速演算処理をそのまま利用することが可能となる。さらに、曲線補間と直線補間との繋ぎについても、従来と同じ繋ぎ処理を利用することができるようになり、従来の装置を活用することもできる。
0004
[Means for solving problems]
The invention of claim 1 of the present invention in order to achieve the above object, the motion control device for controlling the movement locus of the various machines, with a plurality of curve segments constituting the entire curve, each plurality selected representative points The curvature of the representative point is obtained, and if the difference between the curvatures of any two representative points in a certain partial curve is within the allowable range of curvature change, the curvature is divided into straight lines having a length corresponding to the curvature and linear interpolation is performed. This is a curve interpolation method characterized by performing the same interpolation processing as in.
According to the invention of claim 1, the processing speed of the curve interpolation shape analysis can be improved, and the curve whose curvature is within a certain range is divided into straight lines and replaced, which is similar to the linear interpolation. It has a special effect that it can be processed and can be reduced to the conventional linear interpolation. Acceleration / deceleration calculation processing, which has been conventionally used in linear interpolation, can be used as it is. Further, the same connection processing as the conventional one can be used for the connection between the curve interpolation and the linear interpolation, and the conventional device can also be utilized.
本発明の請求項２の発明は、前記ある部分曲線の代表点の少なくとも１点の曲率が前記曲率変化許容範囲内に入っていない場合は、その部分曲線を前記代表点で分割し、分割した曲線を新たな部分曲線として補間処理を行うことを特徴としている。このため、許容範囲を逸脱する代表点についても、自在に新たに部分曲線と定義付けて、補間処理がなされるという顕著な効果を発揮できる。 In the invention of claim 2 of the present invention, when the curvature of at least one point of the representative point of the certain partial curve is not within the allowable range of curvature change, the partial curve is divided at the representative point and divided. It is characterized by performing the interpolation processing curve as a new partial curve. Therefore, even a representative point that deviates from the permissible range can be freely defined as a partial curve, and an interpolation process can be performed, which is a remarkable effect.
本発明の請求項３の発明は、全ての前記部分曲線が前記曲率変化許容範囲内に入るまで、部分曲線分割処理を行うことを特徴としている。 The invention of claim 3 of the present invention, until all of the partial curve entering the curvature change within an allowable range, is characterized by performing the partial curve division process.
本発明の請求項４の発明は、前記部分曲線の前記代表点の個数の変更が可能なことを特徴としている。このため、部分曲線の前記代表点の個数の変更が可能なことから、全体的に滑らかな形状のときには個数を減らし、複雑な形状の場合には増やすなど、形曲線状に応じた補間を実行することができるとともに、制御装置の処理性能や要求精度に対応することができる。 The invention of claim 4 of the present invention is characterized that it is possible to change the number of the representative points of the partial curve. Therefore, since the number of the representative points of the partial curve can be changed, interpolation according to the shape curve is executed, such as reducing the number when the shape is smooth as a whole and increasing the number when the shape is complicated. At the same time, it is possible to correspond to the processing performance and required accuracy of the control device.
本発明の請求項５の発明は、前記曲率変化許容範囲の変更が可能なことを特徴としている。 The invention of claim 5 of the present invention is characterized that it is possible to change the said curvature change allowable range.
本発明の請求項６の発明は、前記曲率と分割する直線の長さの対応関係を変更することが可能なことを特徴としている。したがって本発明の請求項５及び請求項６によれば、曲率変化許容範囲、及び曲率と分割する直線と長さの対応関係を変更することが可能なことから、制御装置の処理能力や要求精度に応じた曲線補間を実行することが可能となる。 The invention of claim 6 of the present invention is characterized that it is possible to change the length of the correspondence between the straight line which divides the said curvature. Therefore , according to claims 5 and 6, the processing capacity and required accuracy of the control device can be changed because the allowable range of curvature change and the correspondence between the straight line and the length to be divided from the curvature can be changed. It is possible to execute curve interpolation according to the above.
本発明の請求項７の発明は、請求項１ないし請求項６のいずれかの項に記載の曲線補間方法において、コンピュータに実行させるプログラムを記録し、前記コンピュータが読み取り可能な記録媒体に収納させた操作手順に従って曲線の補間処理を行うことを特徴としている。
かくして請求項７の発明によれば、従来の回路装置の適用も可能にし、曲線補間の性能向上は勿論、経済性についても優れた効果を保つ。
また本発明の請求項８の発明は、ＮＣデータを入力するＮＣデータ読み込み部と、読み込まれた前記ＮＣデータから求めた制御データを制御データ出力部から出力するＮＣ制御装置において、前記ＮＣデータ読み込み部がＮＣデータを読み込むと、部分曲線毎に代表点の曲率を計算する曲率計算部と、前記部分曲線毎に計算された曲率が所定値内にはいっているかどうかを判定する曲率判定部と、前記曲率が所定値内に入っていなければ当該部分曲線を新たに分割する分割曲線生成部と、を供えたことを特徴としている。
In the invention of claim 7 of the present invention, in the curve interpolation method according to any one of claims 1 to 6, a program to be executed by a computer is recorded and stored in a recording medium readable by the computer. It is characterized by performing the interpolation processing of the curve in accordance with the operating procedure.
Thus, according to the invention of claim 7, it is possible to apply a conventional circuit device, and not only the performance of curve interpolation is improved, but also the economic efficiency is maintained.
The invention according to claim 8 of the present invention is the NC data reading unit for inputting NC data and the NC data reading unit for outputting control data obtained from the read NC data from the control data output unit. When the unit reads NC data, a curvature calculation unit that calculates the curvature of the representative point for each sub-curve, and a curvature determination unit that determines whether the curvature calculated for each sub-curve is within a predetermined value. It is characterized in that it is provided with a division curve generation unit that newly divides the partial curve if the curvature is not within a predetermined value.
【００１７】
【発明の効果】
以上述べたように、本発明の請求項１の発明によれば、曲線補間形状解析の処理速度が向上することができると共に、曲率が一定範囲内に収まる曲線を直線に分割して置き換えることにより、直線補間と同様の処理をすることができ、従来の直線補間に帰着することができるという特段の効果を奏する。従来直線補間で採用していた加減速演算処理をそのまま利用することが可能となる。さらに、曲線補間と直線補間との繋ぎについても、従来と同じ繋ぎ処理を利用することができるようになり、従来の装置を活用することもできる。
また請求項２、３及び８の発明によれば、許容範囲を逸脱する代表点についても、自在に新たに部分曲線と定義付けて、補間処理がなされるという顕著な効果を発揮できる。
さらに請求項４の発明によれば、部分曲線の前記代表点の個数の変更が可能なことから、全体的に滑らかな形状のときには個数を減らし、複雑な形状の場合には増やすなど、形曲線状に応じた補間を実行することができるとともに、制御装置の処理性能や要求精度に対応することができる。
さらにまた本発明の請求項５及び請求項６の発明によれば、曲率変化許容範囲、及び曲率と分割する直線と長さの対応関係を変更することが可能なことから、制御装置の処理能力や要求精度に応じた曲線補間を実行することが可能となる。
なお請求項７の発明によれば、従来の回路装置の適用も可能にし、曲線補間の性能向上は勿論、経済性についても優れた効果を保つ。
[0017]
【Effect of the invention】
As described above, according to the invention of claim 1 of the present invention, the processing speed of the curve interpolation shape analysis can be improved, and the curve whose curvature is within a certain range is divided into straight lines and replaced. , It is possible to perform the same processing as linear interpolation, and it has a special effect that it can be reduced to conventional linear interpolation. Acceleration / deceleration calculation processing, which has been conventionally used in linear interpolation, can be used as it is. Further, the same connection processing as the conventional one can be used for the connection between the curve interpolation and the linear interpolation, and the conventional device can also be utilized.
Further, according to the inventions of claims 2 , 3 and 8 , it is possible to exert a remarkable effect that the representative point deviating from the permissible range is freely newly defined as a partial curve and the interpolation processing is performed.
Further, according to the invention of claim 4, since the number of the representative points of the partial curve can be changed, the number of the representative points can be changed when the shape is smooth as a whole, and the number can be increased when the shape is complicated. It is possible to perform interpolation according to the state, and it is possible to correspond to the processing performance and required accuracy of the control device.
Furthermore, according to the inventions of claims 5 and 6 of the present invention, since it is possible to change the allowable range of curvature change and the correspondence between the straight line and the length to be divided by the curvature, the processing capacity of the control device. It is possible to execute curve interpolation according to the required accuracy.
According to the invention of claim 7, it is possible to apply a conventional circuit device, and it is possible to maintain an excellent effect not only in improving the performance of curve interpolation but also in terms of economy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP37466999A JP2001188605A (en) | 1999-12-28 | 1999-12-28 | Method for interpolating curve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP37466999A JP2001188605A (en) | 1999-12-28 | 1999-12-28 | Method for interpolating curve |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2001188605A JP2001188605A (en) | 2001-07-10 |
| JP2001188605A5 true JP2001188605A5 (en) | 2007-01-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP37466999A Pending JP2001188605A (en) | 1999-12-28 | 1999-12-28 | Method for interpolating curve |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006145929A (en) * | 2004-11-22 | 2006-06-08 | Seiko Epson Corp | Plastic lens half color tinting method and machine |
| JP5489589B2 (en) * | 2009-08-18 | 2014-05-14 | 株式会社松浦機械製作所 | CAM system |
| CN102540978B (en) * | 2010-12-09 | 2013-07-10 | 中国科学院沈阳计算技术研究所有限公司 | High-speed processing-oriented surface quality preferred spline real-time interpolation method |
| JP2013046938A (en) * | 2011-08-29 | 2013-03-07 | Amada Co Ltd | Program generation device and method for the same |
| CN103901815B (en) * | 2012-12-25 | 2017-02-08 | 安川电机（沈阳）有限公司 | Value control apparatus and value control method |
| CN106647637A (en) * | 2015-11-03 | 2017-05-10 | 中国科学院沈阳计算技术研究所有限公司 | Trigonometric function acceleration and deceleration control method for high-quality machining |
| JP6634430B2 (en) | 2017-11-27 | 2020-01-22 | スキューズ株式会社 | Robot hand and robot hand control method |
| CN116580126B (en) * | 2023-05-24 | 2023-11-07 | 杭州行至云起科技有限公司 | Custom lamp effect configuration method and system based on key frame |
-
1999
- 1999-12-28 JP JP37466999A patent/JP2001188605A/en active Pending
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