Track generating method facing toward complex curved surface processing and track generating system thereof

Abstract

The invention discloses a track generating method facing toward complex curved surface processing and a track generating system thereof. The track generating method includes that a to-be-processed complex curved surface is chosen and a standard template library (STL) file is generated; layer dividing direction and layer dividing thickness are determined; group dividing is conducted on a triangular patch; the point of intersection is obtained by an incremental method; a coordinate minimum value point of each section point of intersection gather in the direction of being vertical to the layer dividing direction is found out, another point of intersection of the same triangular patch is searched and connected with the minimum value point, and the process continues until the outline of each tangent plane is obtained and eventually the generating route track is obtained. The track generating system comprises an industrial personal computer (PC), a motion controller, a servo driver and an industrial robot body. The industrial PC generates three-dimensional to-be-processed components into a scattered control point set and transmits the control point set to the motion controller. The motion controller conducts an interpolation calculation on the control point set and outputs pulse trains to the servo driver, and drives the industrial robot body to conduct coordinated movement in a torque control mode. The track generating method facing toward complex curved surface processing and the track generating system thereof have the advantages of small calculation quantity, short calculation time, and high calculation efficiency.

Description

technical field [0001] The invention relates to the field of curved surface trajectory generation and industrial robot motion control system research, in particular to a trajectory generation method for complex curved surface processing and a trajectory generation system thereof. Background technique [0002] Usually, the motion control system of an industrial robot consists of two functional modules: data processing and trajectory interpolation. Since the data of the trajectory interpolation module comes from the data processing module, the result of data processing is related to the quality of complex surface processing. The traditional robot motion control system uses the layered slicing algorithm based on the STL (StereoLithography) model for data processing. Traditional hierarchical slicing algorithms include hierarchical slicing algorithms based on geometric topology information extraction, hierarchical slicing algorithms based on geometric feature classification, and...

AI Technical Summary

Problems solved by technology

The traditional method has the following problems: when calculating the outline of each layer, it is necessary to extract the overall topology information of the STL model and traverse all the patches. Since most of the triangular patches do not intersect with the tangent plane, this method Not only the amount of calculation is large, but also the search efficiency is very low

The layered slicing algorithm in data processing needs to process a lot of triangular faces, which makes the calculation heavy. In the usual PC+DSP architecture, when the complex surface to be processed has high requirements, the time required for data processing will become longer. , so that in a short sampling time, it is difficult to complete the calculation of interpolation and servo control

At present, most of the practical solutions are to adopt the system architecture of multi-chip DSP, which will undoubtedly increase the system cost, and the design of this kind of hardware architecture is also difficult.

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