Non-uniform rational B-spline (NURBS) curve real-time interpolation method based on personal computer (PC)-field programmable gate array (FPGA)

A PC-FPGA, real-time interpolation technology, applied in the direction of electrical program control, digital control, etc., can solve the problem of NURBS interpolation is not strong in real-time, and achieve the effect of reducing the difficulty of design and maintenance, flexible application, and fast speed

Inactive Publication Date: 2014-05-07
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, to provide a PC-FPGA-based NURBS curve real-time interpolation method, to solve the problem in the prior art that the real-time performance of NURBS interpolation is not strong through the parallel computing capability of FPGA problem, while reducing the cost of the system in a limited way, giving full play to the ability to flexibly perform part modeling and FPGA real-time data processing on the PC

Method used

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  • Non-uniform rational B-spline (NURBS) curve real-time interpolation method based on personal computer (PC)-field programmable gate array (FPGA)
  • Non-uniform rational B-spline (NURBS) curve real-time interpolation method based on personal computer (PC)-field programmable gate array (FPGA)
  • Non-uniform rational B-spline (NURBS) curve real-time interpolation method based on personal computer (PC)-field programmable gate array (FPGA)

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Embodiment

[0039] Such as figure 1 , figure 2 As shown, the real-time interpolation method of NURBS curve based on PC-FPGA, including IPC, FPGA motion controller, servo drive, industrial robot, after the Solidworks model of the 3D part generates discrete data points on the IPC, and then through the Ethernet communication module The data is sent to the FPGA motion controller for real-time NURBS curve interpolation calculation, and the output pulse train is sent to the servo drive to drive the industrial robot to perform coordinated motion with torque to realize the NURBS curve interpolation motion of complex curved surface parts.

[0040] The steps implemented on IPC are:

[0041] (1) According to the CAD / CAM graphic features of the part to be sprayed, IPC attaches the data coordinate system to the midpoint of the bottom line of the sprayed part to generate the STL file;

[0042] (2) Attach the unit normal vector of each triangle in the STL file to its three vertices, and delete the poin...

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Abstract

The invention discloses a non-uniform rational B-spline (NURBS) curve real-time interpolation method based on a personal computer (PC)-field programmable gate array (FPGA). According to the method, an information processing center (IPC), an FPGA motion controller, a servo driver and an industrial robot are provided; after a three-dimensional part Solidworks model generates dispersed data points on the IPC; data is transmitted to the FPGA motion controller through an Ethernet communication module for NURBS curve interpolation calculation; a pulse string is output to the servo driver; and the industrial robot is driven by torque to do coordinative motion, so that NURBS curve interpolation motion is performed on the part with a complicated curved surface. The minimum sampling time can be reduced from 1 ms to 0.01 ms, so that the requirement of the industrial robot on high-speed and high-precision motion control can be met; and the NURBS curve real-time interpolation method can be applied to machining parts with complicated curved surfaces.

Description

technical field [0001] The invention belongs to the field of industrial robot motion control systems, in particular to a PC-FPGA-based real-time interpolation method for NURBS curves. Background technique [0002] Usually, the motion control system of a painting industrial robot consists of two functional modules: trajectory interpolation and trajectory tracking. Because the traditional robot motion control system only provides two types of interpolation: straight line and circular arc, all geometric contours are approximately fitted by straight line or circular arc. With the improvement of part precision requirements, the traditional method has the following problems: the higher the precision requirement, the more line segments are generated, and more data needs to be transmitted, resulting in a large amount of data transmission that cannot meet the high-speed processing process; Feed jump and speed discontinuity ultimately affect processing quality. [0003] In order to ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/4103
Inventor 王宇林邹焱飚李琳
Owner SOUTH CHINA UNIV OF TECH
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