Method and device for smooth transition of motion trajectory and related equipment

Abstract

The present invention discloses a method and device for smooth transfer of motion trajectories and related equipment. The method includes: acquiring the first and second trajectories to be smoothly transferred and preset contour errors; The position of the feature interpolation point is determined by the preset contour error; the interpolation curve connecting the first track, the feature interpolation point and the second track is fitted according to the general equation of the first and second tracks, feature interpolation points and interpolation curves . Through the above method, the present invention can accurately fit an interpolation curve that realizes continuous curvature and velocity, and can ensure the contour error of the equipment.

Description

technical field [0001] The present invention relates to the technical field of motion control, in particular to a method and device for smooth transfer of motion trajectories and related equipment. Background technique [0002] In many cases, there is usually an angle between two adjacent motion trajectories. When moving to this point, the direction of the feed speed changes suddenly. If the speed is kept constant, a large acceleration will be generated. This The acceleration may exceed the acceleration capability of the device, causing the corresponding device to vibrate. In order to make this acceleration less than the maximum acceleration of the system, it is necessary to reduce the speed at the connection point of the two motion trajectories. A large number of motion trajectories are accumulated, which seriously affects the motion efficiency. [0003] For this reason, some people propose to introduce an interpolation curve between two trajectories with included angles, ...

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Problems solved by technology

[0004] Existing interpolation curves are usually approximate arcs. Although the arc calculation method is simple, it cannot guarantee the C at the connection point between the arc and the two tracks. 2 Continuous, only guaranteed C 1 continuous

[0005] When using other curves to interpolate the above two trajectories, due to insufficient calculation conditions, the equation of the curve cannot be determined accurately, at best, the interpolation curve can only be calculated approximately

[0006] In addition, the equipment usually sets a contour error. At present, the contour error cannot be guaranteed when calculating the interpolation curve. As a result, when the actual processing is performed according to the calculated interpolation curve, there will still be problems of unsmooth motion and low motion efficiency.

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