A Speed ​​Planning Parameter Selection Method Applicable to Continuous Mixed Curves

Abstract

The invention discloses a speed planning parameter selection method suitable for a continuous mixing curve. The speed planning parameter selection method comprises the steps of (1) taking N code segments read out by an interpolation module in a numerical control machine or a robot control system as a speed planning unit to constitute N continuous curve segments, where N is a positive integer; (2) conducting unified speed planning parameterization for each of the constituted continuous curve segments; (3) selecting a speed planning algorithm; (4) conducting modeling for speed planning parameters according to the selected speed planning algorithm to obtain a mathematical model of the speed planning parameters; (5) determining the numerical range of each speed planning parameter; and (6) according to the mathematical model and the range of each speed planning parameter, obtaining the value of each speed planning parameter by using an optimization tool.

Description

technical field [0001] The invention belongs to the related field of speed planning parameter selection technology in motion control, and more specifically relates to a speed planning parameter selection method suitable for continuous mixing curves. Background technique [0002] Speed ​​planning is the most basic step of the interpolation module in the CNC system and robot control system. Through reasonable speed planning, the precision and smoothness of CNC machine tools and robot motion can be improved. With the development of numerical control technology and robot technology, the complexity of processed products has increased, and it is an inevitable trend in the interpolation process to directly mix and share parameter curves such as polynomial line curves, Bezier curves, and NURBS curves with straight lines and arcs. Due to the different characteristics of different types of curves, it is inevitable that residual errors will be generated at the transition points between...

AI Technical Summary

Problems solved by technology

With the development of numerical control technology and robot technology, the complexity of processed products has increased, and it is an inevitable trend in the interpolation process to directly mix and share parameter curves such as polynomial line curves, Bezier curves, and NURBS curves with straight lines and arcs. Due to the different characteristics of different types of curves, it is inevitable that residual errors will be generated at the transition points between the curves during speed planning, so that the accuracy cannot be reached or the motion speed has a jump, etc. Continuity will inevitably lead to the reduction of surface quality and processing efficiency of processed products

[0003] At present, for the speed planning of continuous mixed curves, there are mainly two methods of segmented speed planning and overall speed planning, and both of these methods involve the connection of mixed curve segments, and both will lead to different degrees of error

Among them, the use of segmented speed planning will inevitably cause a pause at the connection point, while the overall speed planning is likely to cause the omission of the interpolation point of the curve because the interpolation period is a fixed decimal, which will cause residual error

For the residual error, most speed planning methods adopt the method of calculating the total residual error and then making corresponding compensation for the residual error. However, the current conventional residual error compensation method will produce other errors on the one hand, and on the other hand, Most of the residual compensation methods are complex, may involve iterative operations, and have a large amount of calculation, and cannot be considered from the characteristics of the overall curves, resulting in the inability to guarantee the smooth operation of a specific curve segment or the corresponding transition point, thus affecting the CNC system and The overall efficiency and smoothness of the robot control system

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