A trajectory calculation method and system based on dual-robot collaborative weaving

Abstract

The present invention relates to the field of weaving technology, and specifically to a trajectory calculation method and system based on dual-robot collaborative weaving. The method comprises the following steps: in a three-dimensional motion space, respectively establishing a base coordinate system and a tool coordinate system for a first robot and a base coordinate system and a tool coordinate system for a second robot; discretizing the core mold to obtain multiple discrete core molds; calculating the trajectory of the first robot, and ensuring that any section of the discrete core mold passes vertically through the weaving plane; and calculating the trajectory of the second robot using the geometric constraints of the positional relationship in the base coordinate system of the first robot and the base coordinate system of the second robot. The present invention solves the problems of low traction trajectory accuracy and large weaving angle error of large-sized special-shaped core molds during weaving by calculating the motion trajectory of the dual-robot weaving process, thereby improving weaving accuracy and production efficiency.

Description

Technical Field

[0001] The present invention relates to the field of weaving technology, and in particular to a trajectory calculation method and system based on dual-robot collaborative weaving. Background Art

[0002] For large-sized special-shaped structural core molds, due to their structural complexity, robots are required to pull the core molds along a certain trajectory for weaving. The pulling trajectory affects important process parameters such as the weaving angle and coverage of the fabric, and directly affects the mechanical properties of the finished composite material.

[0003] In the actual production process, for the weaving of large-sized and complex structure core molds, double slides are generally used to pull the core mold, which can ensure that the core mold is not easily broken or dropped during the weaving process. However, when weaving special-shaped structure core molds, the traditional method is difficult to ensure that the center line is always perpendicular to the weaving plane, resulting in large weaving errors. When using a single robot for weaving, the distance between the center of gravity of the core mold and the clamping point is long, which will lead to insufficient robot load or yarn landing point deviation. Therefore, it is necessary to use dual robots for collaborative weaving, and calculate and solve the trajectory of the core mold clamped at the same time through the landing plane to improve weaving accuracy and production efficiency. Summary of the Invention

[0004] In response to the shortcomings of existing methods and the needs of practical applications, in order to accurately calculate the motion trajectory of the dual robots pulling the core mold during the weaving process and improve production efficiency, the present invention provides a trajectory calculation method based on dual-robot collaborative weaving, which includes the following steps: in a three-dimensional motion space, respectively establishing a base coordinate system and a tool coordinate system for a first robot and a base coordinate system and a tool coordinate system for a second robot; discretizing the core mold to obtain multiple discrete core molds, describing the center line and shape of the core mold in the tool coordinate system of the first robot and the tool coordinate system of the second robot; calculating the trajectory of the first robot and ensuring that any segment of the discrete core mold passes perpendicularly through the weaving plane; and calculating the trajectory of the second robot using the geometric constraints of the positional relationship in the base coordinate system of the first robot and the base coordinate system of the second robot. By analyzing the motion trajectory of the dual robots and calculating the motion trajectory of the dual robots during weaving, the present invention solves the problems of low traction trajectory accuracy and large weaving angle error of large-sized special-shaped core molds during weaving, improves weaving accuracy in actual production, and also improves production efficiency.

[0005] Optionally, the trajectory calculation method based on dual-robot collaborative weaving includes: specifying the coordinates of the center point of the weaving plane and the plane vector perpendicular to the weaving point, and setting the initial convergence distance between the weaving plane and the guide ring plane. The present invention sets the initial convergence distance between the weaving plane and the guide ring plane by specifying the coordinates of the center point of the weaving plane and the plane vector perpendicular to the weaving point, which serves as the initial condition for subsequent robot trajectory calculation.

[0006] Optionally, the discretization processing of the core mold includes: decomposing the core mold into n discrete points with a spacing of d along the center line of the core mold, wherein the discrete points are represented by C(i) (i=0, 1, ..., n-1), and two adjacent discrete points constitute a segment of the discrete core mold, wherein the number n of discrete points has sufficient accuracy to define the shape of the core mold; and expressing the radius change of any segment of the discrete core mold as the following linear function:

[0007] r c(i) =r c(i-1) +k i c

[0008] Among them, r c(i-1) and r c(i) k represents the radius of the core mold section at points c(i-1) and c(i); i The present invention discretizes the core mold and then solves the robot trajectory based on the geometric characteristics of each discrete core mold.

[0009] Optionally, calculating the trajectory of the first robot includes: calculating a transformation matrix for the first robot to rotate and translate from a starting position to an end position of a segment of the discrete core mold; and obtaining position information of the first robot based on the transformation matrix for the first robot to rotate and translate from a starting position to an end position of a segment of the discrete core mold. The present invention obtains information about the first robot's trajectory by solving the transformation matrix of the first robot and reading the position information of the first robot.

[0010] Optionally, calculating the transformation matrix of the first robot rotating and translating from a starting position of the discrete core mold to an end position includes: converting a vector in the tool coordinate system of the first robot into a vector in the base coordinate system of the first robot; and converting the vector in the tool coordinate system of the first robot into a vector in the base coordinate system of the first robot satisfies the following formula:

[0011]

[0012] Among them, the two robots are represented by R1 and R2 respectively;b (i) represents the tangent vector at point C(i) in the R1 base coordinate system; Rot represents the rotation transformation, Rot(z,a R1 (i-1)) is the counterclockwise rotation angle a around the z axis R1 (i-1); Rot(y,b R1 (i-1)) is the counterclockwise rotation angle b around the y-axis R1 (i-1); Rot(x,c R1 (i-1)) is the counterclockwise rotation angle c around the x-axis R1 (i-1); t(i) represents the tangent vector at point C(i) in the R1 tool coordinate system. The present invention uses homogeneous coordinate transformation to convert the vector in the tool coordinate system into the vector in the base coordinate system, which facilitates the calculation of the robot trajectory.

[0013] Optionally, the transformation matrix of the first robot rotating and translating from the starting position of the discrete core mold to the end position satisfies the following formula:

[0014] T i =Trans i Rot i

[0015] in,

[0016] x s ,y s , z s is the position information of the midpoint of the braiding plane in the R1 base coordinate system; They represent the projection lengths of the vector formed by C(i) and the origin of the R1 tool coordinate system in each axis of the R1 base coordinate system under this posture;

[0017]

[0018] Rot i is the rotation matrix of the i-th discrete core mode; Rot i-1 is the rotation matrix of the i-1th discrete core mode; t is the time when the i-th discrete core module starts to weave b (i) The angle with the normal vector of the weaving plane; f is the rotation axis when adjusting the posture. The present invention describes the position change of the first robot during the weaving process of holding a discrete core mold by using the transformation matrix of the first robot rotating and translating from the starting position of the core mold to the end position.

[0019] Optionally, the trajectory calculation method for dual-robot collaborative knitting further includes: calculating the rotation angles of the tool coordinate system of the first robot and the tool coordinate system of the second robot around the z-axis, y-axis, and x-axis of the base coordinate system of the first robot and the base coordinate system of the second robot, respectively. The present invention obtains the robot posture information by calculating the rotation angles of the tool coordinate system around the base coordinate system.

[0020] Optionally, the geometric constraint condition of the positional relationship between the base coordinate system of the first robot and the base coordinate system of the second robot satisfies the following formula:

[0021]

[0022] in, Used to describe the position and direction of the R1 base coordinate system relative to the R2 base coordinate system, which is determined by the robot placement; T i represents the transformation matrix; x R2origin ,y R2origin , z R2origin , respectively represent the position information of the origin of the R2 tool coordinate system in the R1 tool coordinate system, which is determined by the core mold geometry. The present invention calculates the position information of the second robot through the geometric constraints of the positional relationship between the first robot and the second robot in the base coordinate system.

[0023] Optionally, calculating the trajectory of the second robot includes: calculating a transformation matrix of the second robot during the knitting process according to geometric constraints of the positional relationship between the base coordinate system of the first robot and the base coordinate system of the second robot; and obtaining position information of the second robot according to the transformation matrix of the second robot during the knitting process. The present invention obtains information about the second robot's trajectory by solving the transformation matrix of the second robot and reading the position information of the second robot.

[0024] In the second aspect, in order to be able to efficiently execute a trajectory calculation method based on dual-robot collaborative weaving provided by the present invention, the present invention also provides a trajectory calculation system based on dual-robot collaborative weaving, the system including a processor, an input device, an output device and a memory, wherein the processor, input device, output device and memory are interconnected, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to call the program instructions to execute the trajectory calculation method based on dual-robot collaborative weaving as described in the first aspect of the present invention. The trajectory calculation system based on dual-robot collaborative weaving of the present invention has a compact structure and stable performance, and can stably execute the trajectory calculation method based on dual-robot collaborative weaving provided by the present invention, thereby improving the overall applicability and practical application capabilities of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Flowchart of a trajectory calculation method based on dual-robot collaborative weaving provided by an embodiment of the present invention;

[0026] Figure 2 Schematic diagram of a braiding machine and a dual-robot traction system in an embodiment of the present invention;

[0027] Figure 3 Schematic diagram of the weaving process in an embodiment of the present invention;

[0028] Figure 4 This is a structural diagram of the trajectory calculation system based on dual-robot collaborative weaving provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0029] Specific embodiments of the present invention will be described in detail below. It should be noted that the embodiments described herein are for illustrative purposes only and are not intended to limit the present invention. In the following description, numerous specific details are set forth to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that these specific details are not necessarily required to practice the present invention. In other instances, well-known circuits, software, or methods are not specifically described to avoid obscuring the present invention.

[0030] Throughout this specification, references to "one embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present invention. Therefore, appearances of the phrases "in one embodiment," "in an embodiment," "an example," or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combinations and / or subcombinations in one or more embodiments or examples. Furthermore, those of ordinary skill in the art will appreciate that the figures provided herein are for illustrative purposes only and are not necessarily drawn to scale.

[0031] In an alternative embodiment, see Figure 1 , Figure 1 This is a flow chart of a trajectory calculation method based on dual-robot collaborative weaving provided by an embodiment of the present invention. Figure 1 As shown, the trajectory calculation method based on dual-robot collaborative weaving includes the following steps:

[0032] S1. In the three-dimensional motion space, establish the base coordinate system and tool coordinate system of the first robot and the base coordinate system and tool coordinate system of the second robot respectively. During the motion of the dual robots, the tool coordinate system and base coordinate system of the two robots need to be considered separately. The origin of the tool coordinate system is set at the center of the three-jaw chuck on the flange, and the x coordinate system is used. Tool ,y Tool , z Tool Indicates that the vertical flange faces outward as z Tool The positive direction of the axis, the center line of the core mold and its shape are described in the tool coordinate system; the base coordinate system is set at the robot base to describe the relative position relationship between the two robots and the position relationship between the robot and the braiding machine, expressed as x, y, and z. Figure 2 As shown in the figure, the two robots are represented by R1 and R2 respectively, A represents the braiding machine, B represents the core mold, C represents the guide ring, D represents the spindle, E represents the R2 tool coordinate system, and F represents the R2 base coordinate system.

[0033] Furthermore, in an optional embodiment, the trajectory solving method based on the collaborative weaving of dual robots includes: specifying the coordinates of the center point of the weaving plane and the plane vector of the perpendicular weaving point, and setting the initial convergence distance between the weaving plane and the guide ring plane. In view of the process in which dual robots jointly clamp a core mold for weaving, it is also necessary to solve the tool center point (TCP) data of the two robots in their respective base coordinate systems respectively. The tool center point (TCP) data includes six values of x, y, z, a, b, and c, where x, y, and z are the position information of the origin of the tool coordinate system in the base coordinate system, and a, b, and c represent the angles of rotation of the tool coordinate system around the z-axis, y-axis, and x-axis of the base coordinate system. This method for solving the motion trajectory of the robot also requires the tool center point data, initial convergence length, braiding machine position conditions, positional relationship of the dual robots, and core mold geometric conditions that the end face of the core mold reaches the weaving point plane when starting weaving as initial conditions.

[0034] S2, discretize the core mold to obtain multiple discrete core molds, and describe the center line and shape of the core mold in the tool coordinate system of the first robot and the tool coordinate system of the second robot. Figure 3 As shown in the figure, during the weaving process, yarns with different movement directions are interwoven together and pass through the guide ring and then cover the surface of the core mold. In order to obtain a relatively uniform fabric, the robot clamping the core mold must ensure that the core mold always passes through the weaving plane vertically. The weaving plane is parallel to the guide ring plane and the straight-line distance is the initial convergence distance. The initial convergence distance is set to h0.

[0035] Specifically, in an optional embodiment, the discretization processing of the core mold includes: decomposing the core mold into n discrete points with a spacing of d along the center line of the core mold, wherein the discrete points are represented by C(i) (i=0, 1, ..., n-1), and two adjacent discrete points constitute a segment of the discrete core mold, wherein the number n of discrete points has sufficient accuracy to define the shape of the core mold; and expressing the radius change of any segment of the discrete core mold as the following linear function:

[0036] r c(i) =r c(i-1) +k i c

[0037] Among them, r c(i-1) and r c(i) k represents the radius of the core mold section at points c(i-1) and c(i); i is the radius variation coefficient of the core mold described in this paragraph; c represents the angle of rotation of the tool coordinate system around the x-axis.

[0038] S3. Calculate the trajectory of the first robot and ensure that any section of the discrete mandrel passes perpendicularly through the weaving plane. Specifically, in this embodiment, calculating the trajectory of the first robot includes: calculating a transformation matrix of the first robot rotating and translating from a starting position of a section of the discrete mandrel to an end position; and obtaining the position information of the first robot based on the transformation matrix of the first robot rotating and translating from a starting position of a section of the discrete mandrel to an end position.

[0039] Furthermore, in an optional embodiment, the calculation of the transformation matrix of the first robot rotating and translating from the starting position of the discrete core mold to the end position includes: converting the vector in the tool coordinate system of the first robot into the vector in the base coordinate system of the first robot; and converting the vector in the tool coordinate system of the first robot into the vector in the base coordinate system of the first robot satisfies the following formula:

[0040]

[0041] Among them, the two robots are represented by R1 and R2 respectively; b (i) represents the tangent vector at point C(i) in the R1 base coordinate system; Rot represents the rotation transformation, Rot(z,a R1 (i-1)) is the counterclockwise rotation angle a around the z axis R1 (i-1); Rot(y,b R1 (i-1)) is the counterclockwise rotation angle b around the y-axis R1 (i-1); Rot(x,c R1(i-1)) is the counterclockwise rotation angle c around the x-axis R1 (i-1); t(i) represents the tangent vector at point C(i) in the R1 tool coordinate system.

[0042] Furthermore, in an optional embodiment, the transformation matrix of the first robot rotating and translating from the starting position of the discrete core mold to the end position satisfies the following formula:

[0043] T i =Trans i Rot i

[0044] in,

[0045] x s ,y s , z s is the position information of the midpoint of the braiding plane in the R1 base coordinate system; They represent the projection lengths of the vector formed by C(i) and the origin of the R1 tool coordinate system in each axis of the R1 base coordinate system under this posture;

[0046]

[0047] Rot i is the rotation matrix of the i-th discrete core mode; Rot i-1 is the rotation matrix of the i-1th discrete core mode; t is the time when the i-th discrete core module starts to weave b (i) The angle with the normal vector of the weaving plane; f is the rotation axis when adjusting the posture.

[0048] in, f is the rotation axis when adjusting the posture, f x 、f y 、f z is the projection length of f along the x, y, and z axes, is a verse function, equal to for for

[0049] Furthermore, in an optional embodiment, the trajectory calculation method based on dual-robot collaborative knitting further includes: calculating the rotation angles of the tool coordinate system of the first robot and the tool coordinate system of the second robot around the z-axis, y-axis, and x-axis of the base coordinate system of the first robot and the base coordinate system of the second robot, respectively. The present invention obtains the robot posture information by calculating the rotation angles of the tool coordinate system around the base coordinate system.

[0050] S4. Calculate the trajectory of the second robot using the geometric constraints of the positional relationship between the base coordinate system of the first robot and the base coordinate system of the second robot. Specifically, in an optional embodiment, the geometric constraints of the positional relationship between the base coordinate system of the first robot and the base coordinate system of the second robot satisfy the following formula:

[0051]

[0052] in, Used to describe the position and direction of the R1 base coordinate system relative to the R2 base coordinate system, which is determined by the robot placement; T i represents the transformation matrix; x R2origin ,y R2origin , z R2origin , respectively represent the position information of the origin of the R2 tool coordinate system in the R1 tool coordinate system, which is determined by the geometric shape of the core mold.

[0053] Furthermore, in an optional embodiment, calculating the trajectory of the second robot includes: calculating a transformation matrix for the second robot during the knitting process according to geometric constraints on the positional relationship between the first robot's base coordinate system and the second robot's base coordinate system; and obtaining the position information of the second robot according to the transformation matrix for the knitting process. It should be understood that the method for solving the transformation matrix for the second robot during the knitting process is similar to that for the first robot during the knitting process, and therefore will not be further described here. The position information can be directly read from the transformation matrix.

[0054] Furthermore, to verify the robot's trajectory accuracy, a braiding experiment was conducted using a large, irregularly shaped structural component from the rail transit industry. The braiding angles of the preform were measured and the deviations between the measured and expected values were compared. The experimental equipment consisted of a large circular braiding machine and two six-degree-of-freedom industrial robots. The circular braiding machine includes 240 spindles, each carrying a bobbin for braiding. The braiding machine's motion system consists of four servo motors, two vibration motors, and their controllers. The robot was a KUKA six-degree-of-freedom KR 250R2700-2 industrial robot. The calculated robot trajectory ensured that the core passed perpendicularly through the braiding plane. In particular, in curved sections, the robot end-effector's travel distance from the braiding plane was greater. The motion trajectory of the dual robot end-effectors was constrained by the core's geometry, and the end-effectors remained relatively stationary at any point. The preform after weaving is measured. A vernier angle ruler is used to measure the angle between a single yarn and the axis at a non-bending part to obtain the weaving angle. It is difficult to use a vernier angle ruler at a bending part, so an electronic digital angle ruler is used to measure the angle between two interwoven yarns and then take half of it to obtain the weaving angle. However, the weaving angle of the fabric at the bending part is not equal in the circumferential direction due to the geometry of the core mold. It is necessary to measure and record the surface with higher weaving angle requirements according to the mechanical requirements of the composite material structure. Through weaving experiments, the weaving angle of the fabric is analyzed, and the results show that the trajectory solved by this method can ensure that the weaving angle of the fabric is within ±3° of the expected value in the equal-section part and within ±7° in the variable-section bending part. Therefore, the trajectory solving method based on dual-robot collaborative weaving proposed in the present invention can solve the weaving problem of large-sized special-shaped structure core molds, improve weaving accuracy and weaving efficiency, and improve the mechanical properties of the woven composite material under the same conditions.

[0055] See Figure 4 In an optional embodiment, in order to efficiently execute the trajectory calculation method based on dual-robot collaborative weaving provided by the present invention, the present invention also provides a trajectory calculation system based on dual-robot collaborative weaving, the system comprising a processor, an input device, an output device and a memory, the processor, input device, output device and memory being interconnected, wherein the memory is used to store a computer program, the computer program comprising program instructions, the processor being configured to call the program instructions and execute the specific steps of the relevant embodiments of the trajectory calculation method based on dual-robot collaborative weaving provided by the present invention. The trajectory calculation system based on dual-robot collaborative weaving of the present invention has a complete structure, is objective and stable, and can efficiently execute the trajectory calculation method based on dual-robot collaborative weaving of the present invention, thereby improving the overall applicability and practical application capabilities of the present invention.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A trajectory calculation method based on dual-robot collaborative knitting, characterized in that: The following steps are involved: In the three-dimensional motion space, a base coordinate system and a tool coordinate system for the first robot and a base coordinate system and a tool coordinate system for the second robot are established respectively; Discretizing the core mold to obtain multiple discrete core molds, and describing the center line and shape of the core mold in the tool coordinate system of the first robot and the tool coordinate system of the second robot; Calculating the trajectory of the first robot and ensuring that any section of the discrete core mold passes perpendicularly through the weaving plane; calculating a trajectory of the second robot using geometric constraints on a positional relationship between a base coordinate system of the first robot and a base coordinate system of the second robot; The geometric constraints of the positional relationship between the base coordinate system of the first robot and the base coordinate system of the second robot satisfy the following formula: in, Used to describe the position and orientation of the R1 base coordinate system relative to the R2 base coordinate system. It is determined by the placement of the robots. R1 represents the first robot and R2 represents the second robot. represents the transformation matrix; , , , respectively represent the position information of the origin of the R2 tool coordinate system in the R1 tool coordinate system, which is determined by the geometric shape of the core mold.

2. The trajectory calculation method based on dual-robot collaborative weaving according to claim 1 is characterized in that: The trajectory calculation method based on dual-robot collaborative weaving includes: The coordinates of the center point of the weaving plane and the vector perpendicular to the weaving plane are specified, and the initial convergence distance between the weaving plane and the guide ring plane is set.

3. The trajectory calculation method based on dual-robot collaborative weaving according to claim 1 is characterized in that: The discretization processing of the core mold includes: The core mold is decomposed into n discrete points with a spacing of d along its center line. To indicate that two adjacent discrete points constitute a segment of the discrete core model, wherein the number n of discrete points has sufficient accuracy to define the shape of the core model; The radius change of any discrete core mode is expressed as the following linear function: in, and Respectively expressed in and The radius of the core mold cross section at point is the radius variation coefficient of the core mold described in this paragraph; c represents the angle of rotation of the tool coordinate system around the x-axis.

4. The trajectory calculation method based on dual-robot collaborative weaving according to claim 3 is characterized in that: The calculating the trajectory of the first robot includes: Calculating a transformation matrix of the first robot rotating and translating from a starting position of a segment of the discrete core mold to an end position; The position information of the first robot is obtained according to the transformation matrix of the first robot rotating and translating from the starting position to the end position of the discrete core mold.

5. The trajectory calculation method based on dual-robot collaborative weaving according to claim 4 is characterized in that: The calculation of the transformation matrix of the first robot rotating and translating from the starting position of the discrete core mold to the end position includes: Converting a vector in the tool coordinate system of the first robot into a vector in the base coordinate system of the first robot; The vector in the tool coordinate system of the first robot is converted into a vector in the base coordinate system of the first robot, satisfying the following formula: in, represents the tangent vector at point C(i) in the R1 base coordinate system; represents a rotation transformation, is the counterclockwise rotation angle around the z axis ; is the counterclockwise rotation angle around the y-axis ; is the counterclockwise rotation angle around the x-axis ; Represents the tangent vector at point C(i) in the R1 tool coordinate system.

6. The trajectory calculation method based on dual-robot collaborative weaving according to claim 5 is characterized in that: The transformation matrix of the first robot rotating and translating from the starting position of the discrete core mold to the end position satisfies the following formula: in, , , is the position information of the center point of the braiding plane in the R1 base coordinate system; 、 、 They represent the projection lengths of the vector formed by C(i) and the origin of the R1 tool coordinate system on each axis in the R1 base coordinate system; is the rotation matrix of the i-th discrete core mode; is the rotation matrix of the i-1th discrete core mode; When the i-th discrete core module starts weaving The angle between the knitting plane and the normal vector; f is the rotation axis when adjusting the posture.

7. The trajectory calculation method based on dual-robot collaborative weaving according to claim 1 is characterized in that: The trajectory calculation method based on dual-robot collaborative weaving also includes: Calculate the angles through which the tool coordinate system of the first robot rotates around the z-axis, y-axis, and x-axis of the base coordinate system of the first robot, and calculate the angles through which the tool coordinate system of the second robot rotates around the z-axis, y-axis, and x-axis of the base coordinate system of the second robot.

8. A trajectory calculation system based on dual-robot collaborative knitting, characterized in that: The system includes a processor, an input device, an output device and a memory, which are interconnected, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to call the program instructions to execute the trajectory calculation method based on dual-robot collaborative weaving as described in any one of claims 1 to 7.

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