Error-controllable short line segment trajectory smoothing method

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...

AI Technical Summary

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 low continuity and does not meet the error requirements in the existing numerical control processing or industrial robot application , the calculation is simple, can improve continuity, ensure accuracy and adapt to a variety of smooth curves

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