Motion control system based on non-uniform rational B-spline (NURBS) curve interpolation

Abstract

The invention discloses a motion control system based on non-uniform rational B-spline (NURBS) curve interpolation. The system comprises an upper computer, a lower computer, a motor driver a motor and a mechanical structure which are connected sequentially; the upper computer calculates an interpolation point through an interpolation module, and transmits the calculated coordinate value list to the lower computer; the lower computer converts a coordinate value into the corresponding pulse number, sends a pulse to the motor driver, controls the motor to rotate and drives the mechanical structure to act; the interpolation module is an NURBS curve interpolation module, and solves the length of the whole curve by a large-density dicretization method; the interpolation period T and interpolation speed V are set, and the interpolation base step delta s and arch height error delta delta are solved and the relationship between the arch height error delta s and the required error delta 1 is compared. The invention provides the motion control system based on a NURBS curve interpolation method, in which the step speed and accuracy are considered together, the calculated amount is small and the NURBS interpolation is easy to implement.

Description

technical field [0001] The invention relates to the technical field of electromechanical numerical control, in particular to a motion control system. Background technique [0002] NURBS (Non-Uniform Rational B-Spline) curves can not only accurately and uniformly represent standard analytical curves and free curves, but also have powerful and flexible shape control functions. In 1991, the International Organization for Standardization (ISO) officially promulgated the STEP (Stand for the Exchange of Productmodel daa) standard for the geometric definition of industrial products as an international standard for product data exchange. At present, the NURBS method has been successfully applied in the field of CAD / CAM, but in the field of motion control systems, only a few high-end CNC systems such as FUNUC, SIEMENS, and Mitsubishi support NURBS interpolation, which is difficult to be applied in most motion controllers, resulting in The existing motion control system has the defec...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the deficiencies of the existing motion control system that cannot take into account the step speed and accuracy, the calculation amount is large, and it is not easy to realize NURBS interpolation, the present invention provides a method that can take into account the step speed and accuracy, has a small amount of calculation, and is easy to implement NURBS interpolation. Interpolation Motion Control System Based on NURBS Curve Interpolation Method

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