Track planning method and device and computer readable storage medium

Abstract

The invention provides a track planning method and device and a computer readable storage medium. The method comprises the steps that a local coordinate system O'X'Y' is established in a plane where a first track point, a second track point and a third track point are located; a transition speed is obtained according to the maximum allowable deviation, the linear track length and the maximum allowable speed to enable a planned track to start transition at a first preset point on a first linear track at the transition speed and end transition at a second preset point on a second linear track at the transition speed, wherein the first preset point and the second preset point are symmetric about the Y' axis; and speed planning is carried out in the local coordinate system O'X'Y' to obtain a planned path, and the position of the planned path in a space coordinate system OXYZ is obtained through coordinate transformation. According to the embodiment of the invention, corner fair-up and motion planning of each axis are simultaneously realized through coordinate transformation, so that the track processing efficiency is higher.

Description

technical field [0001] Embodiments of the present invention relate to the field of automatic control, and more specifically, relate to a trajectory planning method, device, and computer-readable storage medium. Background technique [0002] In CAD (Computer Aided Design, computer-aided design) systems, complex surfaces are generally described using smooth spline curves; in CNC (Computerized Numerical Control, computer numerical control) systems, spline curves are generally used for direct interpolation to obtain smoother and higher processing speeds. However, most CNC systems do not have the ability to efficiently interpolate high-order spline curves. Therefore, in order to adapt to most CNC systems, it is necessary to discretize complex surfaces into a large number of straight line segments through a CAM (Computer Aided Manufacturing) system. CNC systems Complete complex surface machining through linear interpolation. Since there is only zero-order geometric continuity be...

AI Technical Summary

Problems solved by technology

[0006] The embodiment of the present invention aims at the low trajectory processing efficiency due to the separate processing of trajectory smoothing and speed planning in the above-mentioned local smoothing technology, which requires an additional interpolation function of the CNC system and easily causes the motion parameters of each axis to be over-constrained at places with large curvatures. problem, provide a trajectory planning method, equipment and computer-readable storage medium

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