Error-controllable short line segment trajectory smoothing method

A small line segment and trajectory technology, applied in the direction of digital control, automatic control device, electrical program control, etc., can solve the problems of not meeting the error requirements and low continuity of linear trajectory, achieve uniform distribution of chord height errors, improve work efficiency and Effect of work quality, uniform smoothing effect

Active Publication Date: 2019-04-05
WUHAN INSTITUTE OF TECHNOLOGY
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide an error controllable small line segment trajectory smoothing method for the problem that the linear trajectory represented by the small line segment has ...

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  • Error-controllable short line segment trajectory smoothing method
  • Error-controllable short line segment trajectory smoothing method
  • Error-controllable short line segment trajectory smoothing method

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[0031]In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and examples of implementation. It should be understood that the specific implementation cases described here are only used to explain the present invention, and are not intended to limit the present invention.

[0032] An error-controllable small line segment trajectory smoothing method of the present invention comprises the following steps:

[0033] Step 1. Robot track point preprocessing: traverse all the track points of the entire track, segment according to the distance and angle between track points, and divide the whole track into several polyline segment sets. by figure 1 Take the 9 track points as an example, all track points are recorded as First, judge the distance threshold, for m=0,1,...7, calculate the length |P m P m+1 |, if |P m P m+1 | is less ...

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Abstract

The invention discloses an error-controllable short line segment trajectory smoothing method which comprises the following steps of 1, pretreating robot trajectory points: traversing all trajectory points of a whole trajectory, segmenting according to the distances and the inclined angles between the trajectory points, and dividing the whole trajectory into a plurality of broken line segment sets;and 2, smoothing the trajectory points: traversing the broken line segment sets generated in the step 1, and calculating the smoothing trajectory of each broken line segment according to a trajectorypoint error threshold value, a chord height error threshold value, a continuity requirement and a smoothing requirement. According to the method, the short line segment trajectory is smoothed to generate a smoothed trajectory meeting the continuity requirement, the shape-preserving requirement and the error requirement, so that the working efficiency and the working quality in application of a numerical control machining robot or an industrial robot are improved; a smoothing curve is applied to requirements for different continuity and executing efficiency; and compared with a conventional transition method, the smoothing curve can control the errors of the trajectory points, and achieves the interpolation effect, thereby retaining the characteristics of the trajectory points.

Description

technical field [0001] The invention belongs to the field of numerical control machining and trajectory optimization of industrial robots, and in particular relates to an error-controllable small line segment trajectory smoothing method. Background technique [0002] Linear trajectories represented by small line segments are widely used in CNC machining and industrial robot applications. In the field of CNC machining, small line segments are the most widely expressed form of processing paths for complex curved surface parts such as impellers, blades, and molds. Multi-axis machining of small line segments has become one of the core technologies for high-speed and high-precision machining of complex curved surface parts. However, there is a problem of discontinuous first-order and second-order derivatives in the trajectory of small line segments, which leads to frequent acceleration and deceleration of the machine tool and vibration, which greatly reduces operating efficiency...

Claims

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Application Information

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IPC IPC(8): B25J9/16B23Q15/00G05B19/19
CPCB23Q15/00B25J9/1664G05B19/19
Inventor 何姗姗颜昌亚李振瀚黄昆涛邓炎超
Owner WUHAN INSTITUTE OF TECHNOLOGY
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