Speed curve planning method for continuous processing path

A speed curve and processing path technology, applied in the direction of instruments, digital control, control/regulation systems, etc., can solve the problems of unsatisfactory speed backtracking speed and unstable speed curve, etc., achieve good processing quality, stable speed curve, and improve efficiency Effect

Pending Publication Date: 2021-07-30
WUXI XINJIE ELECTRICAL
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Problems solved by technology

[0003] Compared with the traditional speed planning algorithm, under the same processing conditions, the processing efficiency is significantly improved, making the movement of the robot more stable and reliable. However, when planning and processing the speed, there is CPU multitasking, which indirectly improves the processing speed. The backtracking speed is not satisfied, resulting in an unstable speed curve

Method used

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  • Speed curve planning method for continuous processing path
  • Speed curve planning method for continuous processing path
  • Speed curve planning method for continuous processing path

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Embodiment approach

[0037] Step 1: For the divided forward-looking segment, perform forward-looking in sub-sections, and then recursively push forward the small-section curve first to obtain the forward-moving speed, and ensure that the forward-moving speed is less than or equal to the speed limit of the inflection point;

[0038] Step 2: Backtracking is performed on the points that do not meet the forward-forwarding conditions to obtain the backtracking speed. When the backtracking speed is greater than the forward-forwarding speed, the requirements are met, and this small section of forward-looking ends;

[0039] Step 3: If the backtracking speed is less than the forward speed, the backtracking speed does not meet the requirements, and continue to backtrack until the backtracking speed is greater than the forward speed;

[0040]Step 4: If the curve of the first section backtracking to the small section still does not meet the requirements, it is necessary to modify the jerk of the first section ...

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Abstract

The invention belongs to the technical field of numerical control systems, and particularly relates to a speed curve planning method for a continuous processing path, which comprises a look-ahead section and a time-sharing processing method for a fixed section length of the look-ahead section. The method comprises the following steps: 1, carrying out small-section look-ahead on the divided look-ahead section, carrying out backward recursion in sequence, carrying out forward recursion on a small-section curve to obtain a forward recursion speed, and ensuring that the forward recursion speed is less than or equal to an inflection point speed limit; and 2, backtracking the points which do not meet the forward recursion condition to obtain a backtracking speed, and when the backtracking speed is greater than the forward pushing speed, determining that the requirement is met, and ending the look-ahead of the small section. According to the method, a simplified method combining forward recursion and backtracking is adopted for speed look-ahead planning, a method of continuing backtracking is adopted when the backtracking speed is not met, and when the backtracking speed is still not met in the first section, jerk backtracking is modified, so that the problem that the backtracking speed is not met is solved, and the speed curve is more stable.

Description

technical field [0001] The invention relates to the technical field of numerical control systems, in particular to a speed curve planning method for a continuous machining path. Background technique [0002] Forward-looking control can analyze and process the motion trajectory in advance, find high curvature points and sharp corners, then plan the speed on the path, find out the deceleration point, and meet the acceleration and deceleration characteristics of the robot while ensuring the machining accuracy. Smooth transition of speed while optimizing. The Tiantian robot provides continuous micro-segment forward-looking control interpolation function, supports a maximum of 100 segments of forward-looking, and greatly improves the interpolation efficiency without affecting the accuracy of the interpolation trajectory. [0003] Compared with the traditional speed planning algorithm, under the same processing conditions, the processing efficiency is significantly improved, maki...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/416
CPCG05B19/416G05B2219/34169
Inventor 陈利敏吴然张辉魏旭东崔筱玮
Owner WUXI XINJIE ELECTRICAL
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