Continuous locus intersegment connecting speed processing method for numerical control system

Abstract

The invention discloses a continuous locus intersegment connecting speed processing method for a numerical control system, which comprises the following steps of: determining an adjacent two-segment locus connecting model, and acquiring the movement parameter of the adjacent two-segment locus to be processed; calculating the path length of the adjacent two-segment locus to be processed; calculating the speed of a connecting point of the adjacent two-segment locus under the conditions of acceleration, arch height error, instruction feeding speed and corner constraint; calculating the speed of the connecting point of the adjacent two-segment locus satisfying the condition S curve acceleration and deceleration control-based path length constraint of the front segment locus in the adjacent two-segment locus; and calculating the speed of the connecting point of the adjacent two-segment locus satisfying the condition S curve acceleration and deceleration control-based path length constraint of the rear segment locus in the adjacent two-segment locus, wherein the calculated speed is used as a final value of the adjacent two-segment locus connecting speed. The invention provides the continuous locus intersegment connecting speed processing method for numerical control equipment, so that the processing locus of the numerical control equipment is continuous and the speed is smooth.

Description

technical field [0001] The invention relates to a trajectory planning method in the field of numerical control systems, in particular to a method for processing connection speeds between continuous trajectory segments used in numerical control systems in numerical control machine tools and robot motion control technologies. Background technique [0002] Trajectory planning plays an important role in CNC machine tool processing and robot motion control. In machine tool processing, trajectory planning is mainly to plan the speed of the machine tool. For continuous cutting CNC machine tools, the control of feed speed is of great significance. It not only directly affects the roughness and precision of machined parts, but also is closely related to the life and production efficiency of cutting tools and machine tools. In the motion control of the robot, the running process of the robot requires the movement to be continuous and smooth and to be able to avoid obstacles smoothly...

AI Technical Summary

Problems solved by technology

However, the existing algorithm for the joint speed between continuous trajectory segments does not consider the path length of two adjacent trajectories based on S-curve acceleration and deceleration control as a constraint condition, resulting in the actual feed rate at the joint point of two adjacent trajectories. The speed does not reach the pre-calculated speed, the connection speed between two adjacent trajectory segments changes suddenly, and the feed speed cannot be smoothly connected between two adjacent trajectory segments; when the part processing is completed, the tool speed cannot be reduced to zero, resulting in gouging

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