Arc interpolation method based on arc tangent vector

Abstract

The invention discloses a circular arc interpolation method based on a circular arc tangent vector. The method comprises the following steps: inputting a new segment of interpolation circular arc information; comparing the input pulse margins in the x direction and the y direction, judging which coordinate axis the absolute value of the pulse margins is greater than or equal to 0.5, and performing pulse processing; solving a tangent vector of the arc point at the moment, and performing normalization processing; multiplying the normalized data by the pulse equivalent of each coordinate axis, judging which coordinate axis is the longest axis at the moment, and deciding to send the pulse; solving the coordinate value of the other axis according to the coordinate of the current point, the coordinate of one axis of the next point and the coordinate of the circle center, and reversing the coordinate value into a pulse value; and determining whether arc interpolation is completed or not according to an end point judgment method. According to the method, the proportion value of each axis is decomposed during linear interpolation, then equal-proportion pulse processing is carried out to carry out arc interpolation, the process of the method is clear and simple, interpolation points of a complex curve can be accurately calculated, the method is easy to implement, and the actual engineering requirements are met.

Description

technical field [0001] The invention relates to the fields of numerical control machine tools and industrial robots, in particular to a circular arc interpolation method based on circular arc tangent vector. Background technique [0002] In the actual operation of industrial robots and CNC machine tools, it is often necessary to pick and place objects and process parts with circular arc trajectories. Usually, when robots and machine tools perform circular trajectory interpolation, they first determine the trajectory length, and then according to the set flexible acceleration and deceleration planning, the continuous circular arc curve trajectory is discrete into a series of interpolation points, under each pulse command Execute the movement of the interpolation point until the total execution time is reached and terminate the interpolation of the arc curve. Then the core problem of arc curve interpolation is to improve its interpolation accuracy, and to improve the interpol...

AI Technical Summary

Problems solved by technology

But it needs to be processed in the whole quadrant, that is, through quadrant processing. Such processing needs to be divided into 4 quadrants, and some methods even need to be divided into 8 quadrants. In this way, there are many situations that need to be considered for the algorithm. There are problems such as complex algorithm, low efficiency, and low precision of interpolation point coordinates

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