Random plane circular interpolation motion controller and control method thereof

Abstract

The invention discloses a random plane circular interpolation motion controller and a control method of the random plane circular interpolation motion controller. The function of random plane circular interpolation is achieved according to the coordinates of three points which are known on a random plane circular arc in space. The control method comprises the following steps: a plane where the three points are located is obtained; the plane is rotated to an XY plane through two times of Eulerian transformation; the coordinates of the three points on the XY plane are calculated; the circle center and the radius are calculated; the circle center is moved horizontally to an original point of the XY plane; the circular arc is divided into a series of uniformly-spaced interpolation points; the central angle of each interpolation point is calculated; the coordinates of the corresponding interpolation points on the XY plane are calculated; the coordinates of each interpolation point on the XY plane are subjected to two times of Eulerian transformation, and final coordinates of each interpolation point on the random plane are calculated. The random plane circular interpolation motion controller and the control method of the random plane circular interpolation motion controller have the advantages that the operation is reliable, the implementation is simple, and the high-speed high-precision random plane circular interpolation function can be achieved.

Description

technical field [0001] The invention relates to a controller and a control method thereof, in particular to an arbitrary plane arc interpolation motion controller and a control method thereof. Background technique [0002] In the field of motion control, any plane circular interpolation generally uses a PC to calculate the interpolation nodes, and then downloads them to the motion controller. However, this method cannot meet the needs of current embedded applications. Therefore, it is necessary to develop a simple and practical interpolation algorithm to facilitate real-time calculations on the embedded system and control the motion module to achieve arbitrary plane circular interpolation motion. Contents of the invention [0003] In view of this, it is necessary to provide a practical arbitrary plane arc interpolation motion controller and its control method. [0004] The present invention is achieved in this way, an arbitrary plane circular arc interpolation motion cont...

AI Technical Summary

Problems solved by technology

However, this method cannot meet the needs of current embedded applications. Therefore, it is necessary to develop a simple and practical interpolation algorithm to facilitate real-time calculations on the embedded system and control the motion module to achieve arbitrary plane arc interpolation motion.

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