WO2018205276A1 - Procédé et dispositif de transition progressive de trajectoire de mouvement et équipement associé - Google Patents

Procédé et dispositif de transition progressive de trajectoire de mouvement et équipement associé Download PDF

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Publication number
WO2018205276A1
WO2018205276A1 PCT/CN2017/084199 CN2017084199W WO2018205276A1 WO 2018205276 A1 WO2018205276 A1 WO 2018205276A1 CN 2017084199 W CN2017084199 W CN 2017084199W WO 2018205276 A1 WO2018205276 A1 WO 2018205276A1
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Prior art keywords
arc
curve
trajectory
point
interpolation
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PCT/CN2017/084199
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English (en)
Chinese (zh)
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王伟
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深圳配天智能技术研究院有限公司
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Priority to CN201780034014.7A priority Critical patent/CN109313428B/zh
Priority to PCT/CN2017/084199 priority patent/WO2018205276A1/fr
Publication of WO2018205276A1 publication Critical patent/WO2018205276A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G05B19/4103—Digital interpolation

Definitions

  • the present invention relates to the field of motion control technologies, and in particular, to a method and apparatus for smooth transition of motion trajectories and related devices.
  • the existing interpolation curve is usually an approximate arc.
  • the arc calculation method is simple, it cannot guarantee that C 2 is continuous at the connection point between the arc and the two segments, and only C 1 is continuous.
  • the equipment usually sets a contour error.
  • the contour error is usually not guaranteed when calculating the interpolation curve, which leads to the problem that the motion of the motion curve is not smooth due to the smoothness of the motion curve. .
  • the technical problem to be solved by the present invention is to provide a method and device for smooth transition of motion trajectory and related equipment, which can accurately fit an interpolation curve that achieves continuous curvature and speed and can ensure contour error of the device.
  • a technical solution adopted by the present invention is to provide a method for smoothly switching a motion trajectory, the method comprising: acquiring a first trajectory and a second trajectory to be smoothly transferred and a preset contour error; The first trajectory and the second trajectory and the preset contour error determine the position of the feature interpolation point; the first trajectory and the feature interpolation are fitted according to the first trajectory, the second trajectory, the feature interpolation point, and the interpolation curve general equation The interpolation curve of the point and the second trajectory, so that the curvature and tangential angle of the first trajectory and the interpolation curve at the joint point of the two trajectories are equal, and the curvature and tangential angle of the second trajectory and the interpolation curve at the joint point of the two points Equal; the first and second tracks are smoothly transferred using the interpolation curve.
  • a technical solution adopted by the present invention is: a device for smoothly switching a motion trajectory, the device comprising a processor and a memory connected to the processor, the memory for storing the first track, the second track, and the pre- Setting a contour error, the processor is configured to acquire a first trajectory, a second trajectory, and a preset contour error from the memory; determine a position of the feature interpolation point according to the first trajectory and the second trajectory and the preset contour error; according to the first trajectory, Two trajectories, feature interpolation points, and general equations for interpolation curves And inserting an interpolation curve connecting the first trajectory, the feature interpolation point and the second trajectory, so that the curvature of the first trajectory and the interpolation curve at the connection point of the two is equal to the tangential angle, and the second trajectory and the interpolation curve are The curvature of the joint points is equal to the tangential angle.
  • another technical solution adopted by the present invention is to provide a storage device that stores program data that can be executed to implement the above method.
  • a robot system including a robot and a controller connected to the robot, and the controller is configured to acquire a first track and a second to be smoothly transferred.
  • a trajectory and a preset contour error determining a position of the feature interpolation point according to the first trajectory and the second trajectory and the preset contour error; and fitting according to the first trajectory, the second trajectory, the feature interpolation point, and the general equation of the interpolation curve Interpolating the interpolation curve of the first trajectory, the feature interpolation point and the second trajectory such that the curvature of the first trajectory and the interpolation curve at the joint point of the two is equal to the tangential angle, and the second trajectory and the interpolation curve are in both
  • the curvature of the connection point is equal to the tangential angle; and the motion of the robot or the components of the robot is controlled according to the first trajectory, the second trajectory, and the interpolation curve.
  • a numerical control machine tool including a machine tool body and a numerical control device, and the numerical control device is configured to acquire a first track and a second track to be smoothly transferred and Presetting the contour error; determining the position of the feature interpolation point according to the first trajectory and the second trajectory and the preset contour error; fitting the connection according to the first trajectory, the second trajectory, the feature interpolation point, and the general equation of the interpolation curve Interpolation curve of a trajectory, a feature interpolation point and a second trajectory, so that the curvature and tangential angle of the first trajectory and the interpolation curve at the connection point of the two are equal, and the second trajectory and the interpolation curve are at the connection point of the two
  • the curvature is equal to the tangential angle; the motion of the machine body or the components of the machine body is controlled according to the first trajectory, the second trajectory, and the interpolation curve.
  • the present invention determines the position of the feature interpolation point according to the first trajectory and the second trajectory and the preset contour error by using the contour error as a condition for fitting the interpolation curve. Then, according to the first trajectory, the second trajectory, the feature interpolation point, and the interpolation curve general equation, the interpolation curve connecting the first trajectory, the feature interpolation point and the second trajectory is fitted, and on the one hand, the accurate fitting can be accurately performed.
  • the interpolation curve on the other hand, the fitted interpolation curve ensures the contour error of the device during motion.
  • FIG. 1 is a flow chart of a method for smoothing a motion track according to a first embodiment of the present invention
  • FIG. 2 is a flow chart of a method for smoothing a motion track according to a second embodiment of the present invention
  • Figure 3 is a geometrical diagram of line segments, arcs, and interpolation curves
  • FIG. 4 is a flow chart of a method for smoothing a motion track according to a third embodiment of the present invention.
  • Figure 5 is a geometrical diagram of the first arc, the second arc, and the interpolation curve
  • FIG. 6 is a schematic block diagram of a motion trajectory smoothing switching device according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a storage device according to an embodiment of the present invention.
  • FIG. 8 is a block diagram of a robot system according to an embodiment of the present invention.
  • Figure 9 is a block diagram of a numerically controlled machine tool according to an embodiment of the present invention.
  • FIG. 1 is a flow chart of a method for smoothing a motion track according to a first embodiment of the present invention.
  • the method for smoothing the motion track includes the following steps:
  • Step S11 Acquire a first track and a second track to be smoothly transferred and a preset contour error.
  • the first track is an arc or a line segment
  • the second track is an arc.
  • Step S12 determining the position of the feature interpolation point according to the first trajectory and the second trajectory and the preset contour error.
  • the determining the position of the feature interpolation point according to the first trajectory and the second trajectory and the preset contour error may be: a tangential angle at a connection point of the first trajectory and the second trajectory On the angle bisector, the point at which the connection point between the first trajectory and the second trajectory is the preset contour error is selected as the feature interpolation point.
  • Step S13 fitting an interpolation curve connecting the first trajectory, the feature interpolation point, and the second trajectory according to the first trajectory, the second trajectory, the feature interpolation point, and the interpolation curve general equation, so that the first trajectory and the insertion
  • the curvature of the complementary curve is equal to the tangential angle at the joint point of the two, and the curvature and tangential angle of the second trajectory and the interpolation curve at the joint point of the two are equal.
  • the step of fitting the interpolation curve connecting the first trajectory, the feature interpolation point, and the second trajectory according to the first trajectory, the second trajectory, the feature interpolation point, and the interpolation curve general equation includes: : fitting a first sub-curve connecting the first trajectory and the feature interpolation point and a second sub-curve connecting the feature interpolation point and the second trajectory, wherein the first sub-curve and the second sub-curve respectively satisfy the interpolation curve
  • the general equations have different curve parameters.
  • the first sub-curve and the second sub-curve have the same curvature and tangential angle at the feature interpolation point. For details, please refer to the description below.
  • the fitting is performed in a manner of dividing into two sub-curves.
  • the method may be performed by dividing into three or more sub-curves, or by using a curve.
  • the first sub-curve is a first clothoid curve
  • the second sub-curve is a second convoluted curve.
  • the first sub-curve and the second sub-curve may also adopt other characteristic curves.
  • FIG. 2 is a flowchart of a method for smoothing a motion track according to a second embodiment of the present invention.
  • the method includes: fitting a first sub-curve connecting the first trajectory and the feature interpolation point, and a second sub-curve connecting the feature interpolation point and the second trajectory, wherein the first sub-curve and the second sub-curve respectively satisfy the interpolation
  • the general equation of the curve has different curve parameters, and the curvatures and tangential angles of the first sub-curve and the second sub-curve at the feature interpolation point are equal.
  • the curvature of the first trajectory and the interpolation curve at the joint point of the two trajectories is equal to the tangential angle
  • the curvature of the second trajectory and the interpolation curve at the joint point of the two is equal to the tangential angle.
  • the first track is a line segment and the second track is an arc.
  • the first sub-curve is a first clothoid curve and the second sub-curve is a second convoluted curve.
  • the method for smoothing the motion track includes the following steps:
  • Step S21 Obtain a line segment and an arc to be smoothly transferred and a preset contour error.
  • the acquiring the line segment and the arc to be smoothly transferred includes: acquiring the position of the line segment and the position of the arc and the positional relationship between the two.
  • Step S22 determining the position of the feature interpolation point according to the line segment and the arc and the preset contour error.
  • the determining condition of the feature interpolation point is: selecting a distance line segment and an arc connecting point of the angle between the intersection line of the arc and the line segment and the angle of the line segment as the preset contour error.
  • the point is used as a feature interpolation point. That is, the Q point in FIG. 3 or FIG. 4, see the description below.
  • Step S23 setting the line segment on a coordinate axis of the Cartesian coordinate system, and the end of the line segment not connected to the arc is set to coincide with the origin of the Cartesian coordinate system;
  • one end of the line segment that is not connected to the arc is taken as the origin, and a coordinate system is established with the line segment as one coordinate axis, as described in detail below.
  • Step S24 Solving the curve parameters of the first convoluted curve and the second convoluted curve by combining the following two sets of equations:
  • x 0 is the coordinate of the connection point of the first convoluted curve and the line segment on the coordinate axis
  • c 0 is the curvature change rate of the first convoluted curve
  • s 0 is the connection point of the first convoluted curve from the line segment to the feature insertion
  • the arc length between the complement points, c 1 is the curvature change rate of the second convolution curve, and s 1 is the arc length of the second convolution curve from the feature interpolation point to the connection point with the arc
  • ⁇ is an arc from the connection point with the second clothoid arc to the central angle of the arc segment and the connection point between the arc segment
  • T ccw rotation matrix, T ccw, x 0, c 0, s 0, c 1, s 1 and ⁇ are unknown quantities that need to be solved by two sets of equations;
  • L is the length of the line segment
  • E is the preset contour error
  • ⁇ is the angle between the line segment and the arc
  • R is the radius of the arc
  • x c is the coordinate of the center of the arc on the coordinate axis
  • y c is the circle
  • the direction vector of the point from the center of the arc to the arc and the line segment, x c , y c , L, ⁇ , and R are known quantities that can be obtained by the relative positional relationship between the line segment and the arc and both.
  • the interpolation curve is a clothoid curve, which has the characteristics that the curvature varies linearly with the arc length of the path.
  • s is the curve path arc length
  • x(s) is the curve path arc length corresponding to the abscissa
  • x 0 is the abscissa at the beginning of the curve
  • y 0 is the abscissa at the beginning of the curve
  • y(s) The arc length of the curve path is the ordinate corresponding to s
  • ⁇ (s) is the tangential angle corresponding to the arc length of the curve path
  • ⁇ 0 is the tangential angle of the starting point of the curve
  • k 0 is the curvature of the starting point of the curve
  • c For the rate of curvature change of the curve
  • k(s) is the curvature of the curved path with the arc length being s.
  • the curvature and the tangential angle of the first trajectory and the interpolation curve are equal to the first smooth transition condition
  • the curvature and tangential angle of the second trajectory and the interpolation curve at the joint point are equal to the second Smoothing the transition condition
  • the curvatures and tangential angles of the first sub-curve and the second sub-curve at the feature interpolation point are equal to a third smooth transition condition.
  • FIG. 3 is a geometric diagram of line segments, arcs, and interpolation curves.
  • the smooth transition of the line segment NP and the arc PM will be described below as an example.
  • the I point is the connection point between the line segment NP and the first convolution curve IQ
  • the O point is the connection point of the arc PM and the second convolution curve QO
  • the P point is the connection point of the line segment NP and the arc PM
  • C is the arc PM. Center of the circle.
  • N point ⁇ I point ⁇ Q point ⁇ O point ⁇ M point as an example.
  • step S21 acquiring line segments and arcs to be smoothly transferred and preset contour errors include:
  • step S22 the determination condition of the feature interpolation point according to the foregoing is the angle bisector of the angle between the line segment NP and the tangent of the arc PM of the feature interpolation point Q and the distance QP from the point P is E and according to the pre- The contour error E, the angle ⁇ , and the length L of the line segment NP are set to determine the position of the feature interpolation point Q.
  • step S23 and step S24 are identical in step S23 and step S24:
  • step S22 First establish a Cartesian coordinate system.
  • the line segment NP is set on the x-axis, and the N point is set to coincide with the coordinate origin.
  • step S22 the coordinates of the feature interpolation point Q in the established coordinate system are obtained. :
  • the positions of the x-axis and the y-axis may be reversed, such as setting the line segment NP on the y-axis and setting the N point to coincide with the coordinate origin.
  • the curvature and the tangential angle of the line segment NP are 0, and the curvature of the first convolution curve at the point I and the tangential angle are both 0 by the first smooth transition condition.
  • the partial parameters of the connection point of the first trajectory and the first gyro curve, the partial parameters of the first gyroscopic curve at the connection point of the first trajectory and the first gyro curve, and the feature interpolation are satisfied according to the general curve of the interpolation curve.
  • the position of the point is taken into the general equation of the interpolation curve to obtain the equation (1):
  • the ordinate of the I point is 0, the curvature of the first convolution curve at the I point is 0 and the tangential angle are 0, and the coordinates of the interpolation feature point are taken into the general equation of the interpolation curve to obtain the equations (1)
  • the coordinates of the center C in the Cartesian coordinate system are (x c , y c ), C point to Direction vector of point P
  • the general equation of the interpolation curve satisfies the position of the feature interpolation point, the partial parameter of the connection point of the second trajectory and the second gyro curve, and the second gyro curve in the second trajectory and the second gyroscopic curve.
  • Part of the parameters of the connection point and the third smooth transition condition are brought into the general equation of the interpolation curve to obtain the equations (2):
  • the curvature of the second convolution curve at the feature interpolation point Q is expressed as a third smooth transition condition as
  • the tangential angle of the second convolution curve at the feature interpolation point Q is expressed as a third smooth transition condition as
  • FIG. 4 is a flowchart of a method for smoothing a motion track according to a third embodiment of the present invention.
  • the step of connecting the interpolation curves connecting the first trajectory, the feature interpolation point, and the second trajectory according to the first trajectory, the second trajectory, the feature interpolation point, and the interpolation curve general equation The method includes: fitting a first sub-curve connecting the first trajectory and the feature interpolation point, and a second sub-curve connecting the feature interpolation point and the second trajectory, wherein the first sub-curve and the second sub-curve respectively satisfy the interpolation
  • the general equation of the curve has different curve parameters, and the curvatures and tangential angles of the first sub-curve and the second sub-curve at the feature interpolation point are equal.
  • the curvature of the first trajectory and the interpolation curve at the joint point of the two trajectories is equal to the tangential angle
  • the curvature of the second trajectory and the interpolation curve at the joint point of the two is equal to the tangential angle.
  • the first sub-curve is a first clothoid curve and the second sub-curve is a second convoluted curve.
  • the first track is a first arc and the second track is a second arc.
  • the method for smoothing the motion track includes the following steps:
  • Step S31 Acquire a first arc and a second arc to be smoothly transferred and a preset contour error.
  • step S31 for example, acquiring the first arc and the second arc to be smoothly transferred includes: acquiring the first arc and the second arc And the positional relationship between the two.
  • Step S32 determining the position of the feature interpolation point according to the first arc and the second arc and the preset contour error.
  • step S32 for example, the determination condition of the feature interpolation point is that the first arc and the second arc are selected from the first arc and the second on the angle bisector of the angle of the tangent at the joint point of the two arcs.
  • the point where the arc's connection point is the preset contour error is used as the feature interpolation point.
  • Step S33 setting a tangent line of the first arc at one end not connected to the second arc on a coordinate axis of the Cartesian coordinate system, and setting one end of the first arc not connected to the second arc to a right angle The origin of the coordinate system coincides.
  • Step S34 Solving the curve parameters of the first convoluted curve and the second convoluted curve by combining the following two sets of equations:
  • c 0 is the curvature change rate of the first convoluted curve
  • s 0 is the arc length between the connection point of the first convoluted curve from the first arc to the feature interpolation point
  • c 1 is the second convoluted curve Curvature change rate
  • s 1 is the arc length of the second convolution curve from the feature interpolation point to the connection point with the second arc
  • ⁇ 1 is the first arc from the first arc and the second arc
  • ⁇ 2 is the second arc from the connection point of the second convoluted curve to the second arc to the second circle
  • T cw is the rotation matrix; c 0 , s 0 , c 1 , s 1 , ⁇ 1 , ⁇ 2 , T cw are required to pass through two groups
  • R 1 is the radius of the first arc
  • R 2 is the radius of the second arc
  • E is the preset contour error
  • x 1 is the coordinate of the connection point of the first arc and the second arc on the coordinate axis
  • y 1 is the coordinate of the connection point of the first arc and the second arc on another coordinate axis of the Cartesian coordinate system
  • x 2 is the coordinate of the center of the second arc on the coordinate axis
  • y 2 is the second circle
  • the general equation of the interpolation curve is the same as that of the second embodiment, and the three expressions are respectively equations (3), (4), and (5), and are not described herein again.
  • the curvature and the tangential angle of the first trajectory and the interpolation curve are equal to the first smooth transition condition
  • the curvature and tangential angle of the second trajectory and the interpolation curve at the joint point are equal to the second Smoothing the transition condition
  • the curvatures and tangential angles of the first sub-curve and the second sub-curve at the feature interpolation point are equal to a third smooth transition condition.
  • FIG. 5 is a geometrical diagram of the first arc, the second arc, and the interpolation curve.
  • the smooth transition of the first circular arc NP and the second circular arc PM will be described below as an example.
  • the I point is the connection point of the first arc NP and the first convolution curve IQ
  • the O point is the connection point of the second arc PM and the second convolution curve QO
  • the P point is the first arc NP and the second arc PM Connection point.
  • N point ⁇ I point ⁇ Q point ⁇ O point ⁇ M point as an example.
  • step S31 acquiring the first arc and the second arc to be smoothly transferred and the preset contour error include:
  • step S32 the determination condition of the feature interpolation point according to the foregoing is the angle bisector of the angle of the feature interpolation point Q between the first arc NP and the tangent of the second arc PM and the distance from the P point QP.
  • E and according to the preset contour error E, the angle ⁇ , The position of the feature interpolation point Q is determined.
  • step S33 and step S34 are identical in step S33 and step S34:
  • the tangent of the first arc NP is set on the x-axis, and the N point is set to coincide with the coordinate origin.
  • a right angle is established at the acquired P point.
  • the coordinates in the coordinate system are (x 1 , y 1 )
  • the coordinates of the feature interpolation point Q in the established coordinate system are:
  • the settings of the x-axis and the y-axis of the Cartesian coordinate system may be reversed, for example, setting a tangent to the first arc NP on the y-axis and setting the N point to coincide with the coordinate origin.
  • the coordinate of the I point is represented by the geometric relationship as
  • the partial parameters of the connection point of the first trajectory and the first gyro curve, the partial parameters of the first gyroscopic curve at the connection point of the first trajectory and the first gyro curve, and the feature interpolation are satisfied according to the general curve of the interpolation curve.
  • the position of the point is taken into the general equation of the interpolation curve to obtain the equations (6):
  • the tangential angle of the second convolution curve at point O is expressed as a second smooth transition condition as
  • Atan2 represents the inverse tangent function, but the angle is limited to the [- ⁇ , ⁇ ] interval;
  • step S32 it can be concluded that the coordinates of the point O are expressed as the coordinates of the acquired center O 2 in the established Cartesian coordinate system (x 2 , y 2 ).
  • the general equation of the interpolation curve satisfies the position of the feature interpolation point, the partial parameter of the connection point of the second trajectory and the second gyro curve, and the second gyro curve in the second trajectory and the second gyroscopic curve.
  • Part of the parameters of the connection point and the third smooth transition condition are brought into the general equation of the interpolation curve to obtain the equations (7):
  • the curvature of the second convolution curve at the feature interpolation point Q is expressed as a third smooth transition condition as
  • the tangential angle of the second convolution curve at the feature interpolation point Q is expressed as a third smooth transition condition as
  • FIG. 6 is a schematic block diagram of a motion track smoothing device according to an embodiment of the present invention.
  • the apparatus for smooth transition of the motion track comprises a processor 61 and a memory 62 connected to the processor 61.
  • the memory 62 is configured to store the first track, the second track, and the preset contour error, and the processor 61 is used by the processor 61.
  • FIG. 7 is a schematic diagram of a storage device according to an embodiment of the present invention.
  • the storage device 70 stores program data, and the program data can be executed to implement the method of smooth transition of the motion trajectory described in any of the above embodiments.
  • the storage device 70 can be a USB flash drive, an optical disk, a hard disk, a mobile hard disk, a server, etc.
  • the storage device can also be the memory 62 in the above embodiment.
  • FIG. 8 is a block diagram of a robot system according to an embodiment of the present invention.
  • the robot system includes a robot 81 and a controller 82 connected to the robot 81.
  • the controller 82 is configured to acquire a first trajectory and a second trajectory to be smoothly transferred and a preset contour error; according to the first trajectory and The second trajectory and the preset contour error determine the position of the feature interpolation point; and the first trajectory, the feature interpolation point, and the second are fitted according to the first trajectory, the second trajectory, the feature interpolation point, and the interpolation curve general equation
  • the interpolation curve of the trajectory is such that the curvature of the first trajectory and the interpolation curve at the joint point of the two is equal to the tangential angle, and the curvature of the second trajectory and the interpolation curve at the joint point of the two is equal to the tangential angle.
  • the robot 81 can include a tool, and the controller 82 can control the robot and the tool motion to perform processing, transportation, and the like according to the first trajectory, the second trajectory, and the interpolation curve. In another embodiment, the controller 82 can control the movement of the robot 81 based on the first trajectory, the second trajectory, and the interpolation curve.
  • FIG. 9 is a schematic diagram of a module of a numerical control machine tool according to an embodiment of the present invention.
  • the numerical control machine tool includes a machine tool body 91 and a numerical control device 92 connected to the machine tool body 91.
  • the numerical control device 92 is configured to acquire a first track and a second track to be smoothly transferred and a preset contour error;
  • the trajectory and the second trajectory and the preset contour error determine the position of the feature interpolation point; and the first trajectory, the feature interpolation point, and the first trajectory are fitted according to the first trajectory, the second trajectory, the feature interpolation point, and the interpolation curve general equation
  • the interpolation curve of the second trajectory is such that the curvature of the first trajectory and the interpolation curve at the joint point of the two trajectories is equal to the tangential angle, and the curvature of the second trajectory and the interpolation curve at the joint point of the two is equal to the tangential angle.
  • the machine tool body 91 can include a machining tool
  • the numerical control device 92 can control the operation of the machine tool and the machining tool movement according to the first trajectory, the second trajectory, and the interpolation curve.
  • the invention determines the position of the feature interpolation point according to the first trajectory and the second trajectory and the preset contour error by using the contour error as a condition for fitting the interpolation curve, and then according to the first trajectory, the second trajectory, and the feature interpolation point.
  • the interpolation curve general equation fits the interpolation curve connecting the first trajectory, the feature interpolation point and the second trajectory, on the one hand, the interpolation curve can be accurately fitted, and the interpolation curve fitted on the other hand can be Ensure the contour error of the equipment during processing.

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Abstract

L'invention concerne un procédé et un dispositif de transition progressive de trajectoire de mouvement et un équipement associé. Le procédé de transition progressive de la trajectoire de mouvement comprend les étapes consistant : à obtenir une première trajectoire (NP) et une seconde trajectoire (PM) à transférer progressivement et une erreur de contour prédéfinie (E) (S11) ; à déterminer une position d'un point d'interpolation de caractéristiques (Q) en fonction de la première trajectoire (NP), de la seconde trajectoire (PM) et de l'erreur de contour prédéfinie (E) (S12) ; et en fonction de la première trajectoire (NP), de la seconde trajectoire (PM), du point d'interpolation de caractéristiques (Q) et d'une équation générale de courbe d'interpolation, à ajuster une courbe d'interpolation reliant la première trajectoire (NP), le point d'interpolation de caractéristiques (Q) et la seconde trajectoire (PM). Le procédé et le dispositif de transition progressive de la trajectoire de mouvement peuvent ajuster précisément la courbe d'interpolation, ce qui réalise une courbure et une vitesse continues, et peut garantir l'erreur de contour de l'équipement.
PCT/CN2017/084199 2017-05-12 2017-05-12 Procédé et dispositif de transition progressive de trajectoire de mouvement et équipement associé WO2018205276A1 (fr)

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Application Number Priority Date Filing Date Title
CN201780034014.7A CN109313428B (zh) 2017-05-12 2017-05-12 运动轨迹平滑转接的方法和装置及其相关设备
PCT/CN2017/084199 WO2018205276A1 (fr) 2017-05-12 2017-05-12 Procédé et dispositif de transition progressive de trajectoire de mouvement et équipement associé

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PCT/CN2017/084199 WO2018205276A1 (fr) 2017-05-12 2017-05-12 Procédé et dispositif de transition progressive de trajectoire de mouvement et équipement associé

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CN111216119A (zh) * 2018-11-23 2020-06-02 深圳市优必选科技有限公司 机器人关节运动控制方法、装置及终端设备
CN111958611A (zh) * 2020-07-31 2020-11-20 华中科技大学 考虑轮廓误差最小的铣削加工机器人姿态优化方法及设备
TWI716127B (zh) * 2019-10-01 2021-01-11 東元電機股份有限公司 機器人及其路徑插值規劃命令產生系統
CN112621739A (zh) * 2019-10-08 2021-04-09 东元电机股份有限公司 机器人及其路径插值规划命令产生系统
CN113450262A (zh) * 2020-03-25 2021-09-28 武汉金山办公软件有限公司 一种实现图像处理的方法、装置、计算机存储介质及终端
CN113741338A (zh) * 2021-09-10 2021-12-03 深圳市英威腾电气股份有限公司 一种运动设备的运行路径控制方法、系统及装置
CN113791578A (zh) * 2021-08-23 2021-12-14 五邑大学 基于数控加工系统的轨迹滤波方法、装置和电子设备
CN116501071A (zh) * 2023-06-30 2023-07-28 苏州铼钠克信息技术有限公司 近似回折路径的规划方法和装置、电子设备和存储介质
CN117944057A (zh) * 2024-03-26 2024-04-30 北京云力境安科技有限公司 一种机械臂轨迹规划方法、装置、设备及介质

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CN113504764A (zh) * 2021-06-30 2021-10-15 浙江大学 基于位置矢量加权积分的连续线段数控加工路径平滑方法
CN114434241B (zh) * 2021-12-30 2023-06-02 西门子（中国）有限公司 控制石磨机横梁运动的方法、装置、电子设备及存储介质

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CN111216119A (zh) * 2018-11-23 2020-06-02 深圳市优必选科技有限公司 机器人关节运动控制方法、装置及终端设备
TWI716127B (zh) * 2019-10-01 2021-01-11 東元電機股份有限公司 機器人及其路徑插值規劃命令產生系統
CN112621739A (zh) * 2019-10-08 2021-04-09 东元电机股份有限公司 机器人及其路径插值规划命令产生系统
CN112621739B (zh) * 2019-10-08 2022-03-15 东元电机股份有限公司 机器人及其路径插值规划命令产生系统
CN113450262A (zh) * 2020-03-25 2021-09-28 武汉金山办公软件有限公司 一种实现图像处理的方法、装置、计算机存储介质及终端
CN111958611A (zh) * 2020-07-31 2020-11-20 华中科技大学 考虑轮廓误差最小的铣削加工机器人姿态优化方法及设备
CN113791578A (zh) * 2021-08-23 2021-12-14 五邑大学 基于数控加工系统的轨迹滤波方法、装置和电子设备
CN113791578B (zh) * 2021-08-23 2023-05-02 五邑大学 基于数控加工系统的轨迹滤波方法、装置和电子设备
CN113741338A (zh) * 2021-09-10 2021-12-03 深圳市英威腾电气股份有限公司 一种运动设备的运行路径控制方法、系统及装置
CN113741338B (zh) * 2021-09-10 2023-08-22 深圳市英威腾电气股份有限公司 一种运动设备的运行路径控制方法、系统及装置
CN116501071A (zh) * 2023-06-30 2023-07-28 苏州铼钠克信息技术有限公司 近似回折路径的规划方法和装置、电子设备和存储介质
CN116501071B (zh) * 2023-06-30 2023-09-05 苏州铼钠克信息技术有限公司 近似回折路径的规划方法和装置、电子设备和存储介质
CN117944057A (zh) * 2024-03-26 2024-04-30 北京云力境安科技有限公司 一种机械臂轨迹规划方法、装置、设备及介质

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