Control method of six-degree-of-freedom motion system, storage medium and system

Abstract

The invention relates to the field of servo control systems, and discloses a control method of a six-degree-of-freedom motion system, a storage medium and the system, and the method comprises the steps: carrying out the motion track planning of six sliding blocks based on a target posture, and obtaining six smooth cam curves; for each sliding block, performing fusion processing on measurement data of the motor encoder and the magnetic railing ruler encoder to obtain displacement data of each sliding block; and based on the displacement data of each sliding block, taking one virtual axis as a guide axis and six smooth cam curves as following axes, and carrying out six-axis synchronous coordination control, so that the six-degree-of-freedom motion system operates based on the target attitude. The method has the beneficial effects that accurate control of six sliding blocks in a six-degree-of-freedom motion system is realized by setting accurate target attitude planning and fusing multi-sensor data, so that the control accuracy and the response speed are improved, and the stability and the reliability of the six-degree-of-freedom motion system are enhanced.

Description

Technical Field

[0001] The present application relates to the field of servo control systems, and in particular to a control method, storage medium and system for a six-degree-of-freedom motion system. Background Art

[0002] A six-degree-of-freedom motion system refers to a system that can realize motion control in six directions (three linear directions and three rotational directions) in three-dimensional space. It can be used to simulate the complex movements of aircraft or robot arms in space.

[0003] However, the control method for the six-degree-of-freedom motion system in the related art still has some limitations, and a control method that can improve its reliability and accuracy is needed. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the present application proposes a control method, storage medium and system for a six-degree-of-freedom motion system. The main technical solutions adopted in the present application include:

[0005] In a first aspect, an embodiment of the present application provides a control method for a six-degree-of-freedom motion system, the method comprising: planning the motion trajectories of six sliders based on a target posture to obtain six smooth cam curves; for each slider, fusing the measurement data of a motor encoder and a magnetic scale encoder to obtain displacement data of each slider; based on the displacement data of each slider, using a virtual axis as a guide axis and six smooth cam curves as follower axes to perform six-axis synchronous and coordinated control so that the six-degree-of-freedom motion system operates based on the target posture.

[0006] In a second aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements any of the above-mentioned control methods for a six-degree-of-freedom motion system when the computer program is executed by a processor.

[0007] In a third aspect, the present application also provides a six-degree-of-freedom motion system including a memory, a processor, and a computer program stored in the memory, and when the computer program is executed by the processor, any of the above-mentioned control methods for the six-degree-of-freedom motion system is implemented.

[0008] In a fourth aspect, an embodiment of the present application also provides a control device for a six-degree-of-freedom motion system, the device comprising: a trajectory planning module, used to plan the motion trajectory of six sliders based on the target posture to obtain six smooth cam curves; a displacement acquisition module, used to fuse the measurement data of the motor encoder and the magnetic scale encoder for each slider to obtain the displacement data of each slider; a coordination control module, used to use a virtual axis as the guide axis and six smooth cam curves as the following axes based on the displacement data of each slider to perform six-axis synchronous coordination control so that the six-degree-of-freedom motion system can operate based on the target posture.

[0009] In a fifth aspect, the present application further provides a computer device including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above methods when executing the computer program.

[0010] In a sixth aspect, the present invention provides a computer program product, comprising a computer program, which implements the steps of any of the above methods when executed by a processor.

[0011] In the above embodiment, by setting a precise target posture plan and fusing multi-sensor data, precise control of the six sliders in the six-degree-of-freedom motion system is achieved. First, the system calculates the motion trajectory of the six sliders according to the target posture and generates six smooth cam curves. Then, the data obtained by the motor encoder and the magnetic scale encoder are fused to obtain the precise displacement data of each slider. Finally, by setting a virtual axis as the guide axis and the six cam curves as the synchronous control strategy of the follower axis, the precise coordinated motion of the six axes is achieved, ensuring that the six-degree-of-freedom motion system can accurately operate stably according to the predetermined target posture. At this point, not only the accuracy and response speed of the control are improved, but also its stability and reliability are enhanced, so that the six-degree-of-freedom motion system can achieve higher performance standards when performing complex tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1a A flowchart of a control method for a six-degree-of-freedom motion system provided according to an embodiment of the present application;

[0014] Figure 1b A principle block diagram of a PID control method provided according to an embodiment of the present application;

[0015] Figure 1c A principle block diagram of a cross-coupling control method provided according to an embodiment of the present application;

[0016] Figure 1d This is an operation interface diagram of synchronous operation control provided according to an embodiment of the present application;

[0017] Figure 2a A flow chart of a motion trajectory planning method provided according to an embodiment of the present application;

[0018] Figure 2b A result diagram of cubic spline interpolation provided according to an embodiment of the present application;

[0019] Figure 3a A flowchart of a method for determining a posture error model according to an embodiment of the present application;

[0020] Figure 3b A schematic diagram of a system with gap compensation control provided according to an embodiment of the present application;

[0021] Figure 4a A flowchart of a security protection method provided according to an embodiment of the present application;

[0022] Figure 4b A schematic diagram of a three-dimensional safety envelope space provided according to an embodiment of the present application;

[0023] Figure 5 is a structural block diagram of a control device for a six-degree-of-freedom motion system according to an embodiment of the present application;

[0024] Figure 6 The figure is a diagram of the internal structure of a computer device according to one embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0026] Six-degree-of-freedom motion systems are systems that can achieve motion control in six directions (three linear directions and three rotational directions) in three-dimensional space. They are widely used in aviation, aerospace, automotive and robotics, such as flight simulators, precise operation of robot arms and space station docking simulations. They can provide realistic dynamic environments for training, testing and research.

[0027] However, despite the significant technical progress of the six-degree-of-freedom motion system, the control method in the related art still has the following limitations, including: due to the errors in machining and assembly, as well as the limitations of sensor accuracy, the control method in the related art may encounter limitations in achieving precise control, especially when performing small movements or high-speed dynamic responses; due to factors such as system delays, dynamic characteristic errors of actuators and elastic deformation of mechanical structures, the six-degree-of-freedom motion system may not be able to accurately follow the predetermined trajectory due to insufficient dynamic response when performing fast or complex movements; because the control method used in the related art is relatively simple, in its actual operation, the user needs to manually perform a large amount of input and adjustment, making the entire operation process cumbersome. In addition, the related art also lacks efficient mechanisms in data processing and trajectory management, resulting in the control system failing to meet high standards in response speed and operating efficiency, especially in complex application scenarios that require rapid switching or combination of multiple motion trajectories. This limitation is even more obvious.

[0028] Based on this, according to an embodiment of the present application, a control method embodiment of a six-degree-of-freedom motion system is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0029] In this embodiment, a control method for a six-degree-of-freedom motion system is provided. FIG. 1 is a flow chart of a control method for a six-degree-of-freedom motion system according to an embodiment of the present application. As shown in FIG. 1 , the flow chart includes the following steps:

[0030] S110 , planning motion trajectories of six sliders based on the target posture to obtain six smooth cam curves.

[0031] Among them, the target posture may refer to a specific spatial position and direction that needs to be simulated or achieved in a six-degree-of-freedom motion system. Exemplarily, it may include data on the translation along the X, Y, and Z axes and the rotation around these three axes, namely, the angle of attack α, the sideslip angle β, and the roll angle γ. It should be understood that the six sliders may refer to mechanical components in a six-degree-of-freedom motion system that can move along linear guides to drive the system to move in three linear directions. Specifically, each slider corresponds to the movement of one degree of freedom, and the control system needs to accurately control the movement of the six sliders to achieve precise positioning of the model in three-dimensional space.

[0032] Furthermore, by planning the target posture, the path that the slider needs to follow can be calculated to ensure that the system can smoothly and accurately move from the initial position to the target position and target posture in a preset direction. Specifically, a posture forward solution or a posture inverse solution algorithm can be used. Exemplarily, the target posture that needs to be achieved in the end is first determined, including the spatial position of the (X, Y, Z) coordinates and the pitch angle, roll angle and yaw angle direction data. Based on the kinematic inverse solution algorithm, a six-degree-of-freedom control mathematical model including the geometric relationship of the mechanical structure and the motion constraints is established to calculate the expected path of each slider. That is, six smooth cam curves are obtained to describe the path of each slider from the current position to the target position.

[0033] S120: For each slider, the measurement data of the motor encoder and the magnetic scale encoder are fused to obtain the displacement data of each slider.

[0034] It is understandable that in order to ensure that the end model of the six-degree-of-freedom motion system always runs along the cam curve obtained by the motion trajectory planning, thereby avoiding the risk of collision, especially when approaching the boundary, the algorithm must be corrected at all times to ensure that the end posture is completely consistent with the planned trajectory without deviation. Therefore, in the correct solution process, the accurate displacement data of each slider must be obtained in real time. Therefore, for each slider, a motor encoder and a magnetic scale encoder can be installed at its end, and their measurement data can be obtained in real time.

[0035] Among them, the motor encoder may refer to a sensor that can provide the rotation position information of the motor shaft, and the magnetic scale encoder may refer to a sensor that provides high-precision position measurement data by measuring the change of the magnetic field. It should be understood that there is a reducer between the control motor and the slider. Therefore, for the magnetic scale encoder, the displacement of the slider can be measured directly; while for the motor encoder, the displacement of the slider is measured indirectly. Therefore, in order to obtain accurate and reliable slider displacement data, the two sensor data can be fused. Specifically, for each slider, after obtaining its measurement data, the Kalman filter algorithm can be used to process the measurement data of the motor encoder and the magnetic scale encoder to obtain the displacement data of each slider.

[0036] S130. Based on the displacement data of each slider, a virtual axis is used as a guide axis and six smooth cam curves are used as follower axes to perform six-axis synchronous coordinated control so that the six-degree-of-freedom motion system runs based on the target posture.

[0037] It is understandable that the virtual axis can refer to a guide axis used to coordinate the movement of multiple physical axes to achieve complex motion patterns. It can be a non-existent axis physically, but it is used as a reference or benchmark in the control system to control the movement of other physical axes (following axes). Specifically, by using the virtual axis as the guide axis and the six cam curves as the following axes, based on the six-axis synchronous coordinated control, the actuator, that is, the movement of the six sliders of the end effector, is controlled at the same time, so that they can move in a coordinated manner according to the predetermined trajectory and time, so as to ensure that the six-degree-of-freedom motion system can accurately operate according to the target posture.

[0038] Specifically, after solving the displacement of each slider, in order to ensure that each slider can accurately reach the desired position, each motor needs to move the required angle quickly and accurately. Therefore, a high-precision control strategy needs to be adopted for each motor. For example, PID closed-loop control can be used to improve the dynamic performance of the system while ensuring the stability of the system. Specifically, the PID control strategy is to calculate the output according to the deviation of the system input using the proportion (P), integration (I), and differentiation (D), and dynamically adjust the controlled object. Its control principle is as follows Figure 1b Please refer to Figure 1b , where r(t) refers to the expected value, y(t) refers to the actual output value obtained by calculation, and the deviation between the input and actual output value of the PID controller can be calculated by the following formula:

[0039] e(t)=r(t)-y(t)

[0040] Among them, e(t) refers to the deviation between the input and actual output value of the PID controller.

[0041] Furthermore, combined with Figure 1b The above formula can be used to obtain the PID control law as shown below:

[0042]

[0043] Among them, K P is the proportionality coefficient, T i is the integration time constant, T d is the differential time constant, K i is the integration coefficient, K d is the differential coefficient.

[0044] Specifically, the proportional link plays a regulating role according to the size of the deviation, which can speed up the dynamic response speed of the system and make the controlled variable change in the direction of reducing the error. It is an indispensable link in PID control. However, it should be noted that it cannot completely eliminate the steady-state error. The integral link is controlled according to whether the deviation exists. Its function is to eliminate the steady-state error of the system. On the basis of the proportional link, the static error of the system is eliminated, so that the final output value is the same as the given value, and the system's zero difference is improved. The differential link takes action according to the speed of change of the deviation to reflect the changing trend of the deviation signal, that is, the error change rate. It can give the system a correction signal in advance according to the changing trend of the system error, thereby speeding up the response speed of the system and shortening the adjustment time.

[0045] Furthermore, on the basis of the PID control method, to ensure that the desired target posture can be reached in the end, the six sliders need to cooperate with each other to ensure that the target is reached along the optimal path. That is, the motors that control each end effector also need to cooperate with each other to move in coordination, so as to ensure that the model reaches the specified position smoothly. Among them, coordinated control can refer to coordinated control to ensure the ratio between the position, speed or current between axes. Exemplarily, in the coordinated control of multiple motors, there is often no mechanical coaxial situation, so the following control structures can be used, such as equal control, master-slave control, cross-coupling control, virtual spindle control or deviation coupling control. Among them, taking the coordinated control using dual motor cross-coupling control as an example, please refer to Figure 1c The principle of coordinated control using dual motor cross-coupling control can be as follows Figure 1c As shown in the figure, it can be seen that the characteristic of cross-coupling control is to compare and differ the speed or position signals, use the difference as the system feedback signal, and track the feedback signal to reduce the motor coordination error and improve the motor collaborative control accuracy.

[0046] It can be understood that, during the motion of the six-degree-of-freedom motion system, the main controlled objects can be six servo motors. Therefore, during the control process, a virtual axis can be used as the leading axis, and six actual axes can be used as the following axes, and cam synchronization can be used to control the six servo motors. For example, during control, the target posture to be achieved is first planned according to the inverse solution algorithm of the touch-screen all-in-one machine, and the trajectory points are solved according to the gradients of 0.05° and 0.1mm, and the solved slider trajectory points are sent to the PLC. Then interpolation is performed through the MC_InterpolateCam instruction to form a cam curve for each axis. The cam motion operation between the master axis and the slave axis is then started through the motion control command "MC_CamIn" to realize the motion process. Among them, the synchronous control between the leading axis and the following axis is specified by the synchronous operation function. The basic operating principle of the synchronous axis process object can be referred to. Figure 1d shown.

[0047] Furthermore, the six-degree-of-freedom motion system can also be communicatively connected with remote host computer software, local host computer software, slave computer software and debugging notebook software. Specifically, the local host computer software and slave computer software can be developed first, and the control logic can be verified in the digital simulation software to ensure that the control logic is correct. After that, the control algorithm is imported into the actual hardware, and further adaptively modified and debugged to ensure that all functions are normal. Finally, the remote host computer software is swapped for development and debugging. During the debugging process, the functions of each software are tested separately, and the results of each time are recorded until the various functional items of the six-degree-of-freedom motion system can be fully realized.

[0048] In the above embodiment, by setting accurate target posture planning and fusing multi-sensor data, accurate control of the six sliders in the six-degree-of-freedom motion system is achieved. First, the system calculates the motion trajectory of the six sliders according to the target posture and generates six smooth cam curves. Then, the data obtained by the motor encoder and the magnetic scale encoder are fused to obtain the accurate displacement data of each slider. Finally, by setting a virtual axis as the guide axis and the six cam curves as the synchronous control strategy of the follower axis, the precise coordinated motion of the six axes is achieved, ensuring that the six-degree-of-freedom motion system can accurately operate stably according to the predetermined target posture. At this point, not only the accuracy and response speed of the control are improved, but also its stability and reliability are enhanced, so that the six-degree-of-freedom motion system can achieve higher performance standards when performing complex tasks.

[0049] In some embodiments, please refer to the attached Figure 2a , based on the target posture, the motion trajectory of the six sliders is planned to obtain six smooth cam curves, including:

[0050] S210, determining current posture information of the six sliders, and performing calculations based on the current posture information and the target posture of the six sliders to obtain a plurality of displacement point information corresponding to each slider.

[0051] The current posture information refers to the position and state data of the six sliders in the six-degree-of-freedom motion system recorded at the initial startup time. For example, it may include the initial position, velocity, acceleration and other posture information of each slider. The multiple displacement point information corresponding to each slider may refer to a series of slider position data points obtained by solving the current posture information and target posture of the six sliders.

[0052] It is understandable that since the final posture, that is, the information of multiple displacement points corresponding to each slider, can be obtained through the sequential transformation of yaw, pitch, roll and translation, the posture inverse solution can be performed based on the current posture information and target posture of the six sliders. Exemplarily, based on the initial position and state data of the six sliders, according to the gradient of 0.05° and 0.1mm, combined with the respective X, Y, Z linear displacement values ​​and the target posture of the angle change values ​​of the angle of attack α, the sideslip angle β, and the roll angle γ, the coordinate transformation process is first performed on them, and the process of homogeneous coordinate transformation from the connected coordinate system to the fixed coordinate system can be shown as follows:

[0053]

[0054] Where cα=cosα, sα=sinα, and the rest are similar. This matrix represents the secondary transformation matrix relative to the fixed coordinate system obtained by rotating the moving coordinate system around the X-axis by an angle of γ, then around the Y-axis by an angle of β, then around the Z-axis by an angle of α, and finally translating (x, y, z) along the X, Y, and Z axes.

[0055] Furthermore, the dimensions of the six-degree-of-freedom motion system can be obtained by measurement, that is, the coordinate vectors of each hinge point of the moving platform are known, as shown in the following formula:

[0056] B′ i =(B′ ix B′ iy B′ iz 1) T

[0057] Among them, B′ ix represents the coordinate vector along the X direction; B′ iy represents the coordinate vector along the Y direction; B′ iz Represents the coordinate vector along the Z direction.

[0058] Furthermore, given the model posture, the transformation matrix T is also known, so the coordinates of each hinge point of the moving platform in the static coordinate system after the model moves can be shown as follows:

[0059] B′ i =(B′ ix B′ iy B′ iz 1) T =T*B′ i

[0060] Similarly, B′ ix represents the coordinate vector along the X direction; B′ iy represents the coordinate vector along the Y direction; B′ iz Represents the coordinate vector along the Z direction.

[0061] Furthermore, the coordinate vector of the slider in the static coordinate system can be expressed as follows:

[0062] U i =(U ix U iy U iz ) T

[0063] Among them, U i Represents the coordinate vector of the slider in the static coordinate system; U ix U represents the coordinate vector of the slider along the X direction in the static coordinate system; iy U represents the coordinate vector of the slider along the X direction in the static coordinate system; iz represents the coordinate vector of the slider along the X direction in the static coordinate system. It can be seen that the slider has only one degree of freedom, that is, there is only one unknown solution in the coordinate vector.

[0064] Furthermore, based on the rod length, which is the physical data of the end effector, the slider position can be calculated as shown in the following formula:

[0065]

[0066] Similarly, U i Represents the coordinate vector of the slider in the static coordinate system; U ix U represents the coordinate vector of the slider along the X direction in the static coordinate system; iy U represents the coordinate vector of the slider along the X direction in the static coordinate system; iz represents the coordinate vector of the slider along the X direction in the static coordinate system; B ix represents the coordinate vector along the X direction; B iy represents the coordinate vector along the Y direction; B iz Represents the coordinate vector along the Z direction.

[0067] Finally, according to the above formula, the position of each slider in the six-degree-of-freedom motion system is solved, that is, the multiple displacement point information corresponding to each slider is obtained.

[0068] S220 , performing interpolation calculation on the multiple displacement point information corresponding to each slider to obtain six smooth cam curves.

[0069] It is understandable that, since the multiple displacement point information corresponding to each slider is discrete point information, which only contains the key positions of the slider in the movement process, an interpolation method can be used to integrate the multiple discrete displacement points of each slider into a smooth and continuous moving curve. For example, a cubic spline interpolation method can be used. The interpolation curve runs along the interpolation points and curve segments, and the result of the cubic spline interpolation can be shown as follows: Figure 2b As shown, a series of cubic polynomials are used to interpolate in each interval, making the entire curve smooth and continuous. After interpolation, the value range of the cam follower value can be larger than the value range before interpolation. As can be seen from the figure, according to the definition of the cam, cubic spline interpolation will obtain a higher dynamic response, because the interpolation curve always passes through the specified point, and cubic spline interpolation is used to interpolate the slider displacement points obtained after the solution to obtain the cam curve of the corresponding axis.

[0070] Furthermore, after interpolation is completed, the gaps between the defined cam interpolation points and segments are closed. The cam operation between the master and slave axes can then be started via the Motion Control command "MC_CamIn".

[0071] In the above implementation, accurate motion trajectory planning of the six sliders in the six-degree-of-freedom motion system is achieved through accurate target posture planning and advanced motion control algorithms. First, the system determines the initial posture information of the slider, and uses the posture inverse solution algorithm, combined with the target posture, to calculate a series of displacement points that the slider needs to pass through. Then, the cubic spline interpolation method is used to convert these discrete displacement points into continuous and smooth cam curves, so that the slider can move accurately along the predetermined trajectory. This process not only improves the dynamic response capability of the system, but also ensures the smoothness and accuracy of the motion, so that the six-degree-of-freedom motion system can efficiently and stably reach the target posture, and improves the overall performance and reliability of the system.

[0072] In some implementations, when planning motion trajectories for the six sliders based on the target posture, the method further includes:

[0073] The working mode of the six-degree-of-freedom motion system is switched to the cam mode, and the database is cleaned so that the data corresponding to the current posture information and the target posture are stored in the database.

[0074] The database may refer to a storage medium for storing various data and information related to the operation of the system, and may be, for example, a physical storage device such as a hard disk, a solid-state drive, or a logical storage structure, such as a data structure in a computer memory. Specifically, the database of the six-degree-of-freedom motion system may include historical configuration parameters and operation setting parameters, historical operation data and system logs for fault diagnosis and performance analysis, and data for motion trajectory planning between historical initial posture information and historical target posture data.

[0075] It is understandable that the database is designed to significantly improve the operating efficiency of the control system and the convenience of user operation. Specifically, when the system is run for the first time and the six smooth cam curves of each slider are calculated, the control system automatically searches the database. If no cam curve data matching the current and target postures is found, the system will perform a database cleaning operation to delete old or useless data, such as historical records, temporary files, and cached data. After that, the system will save the new current posture and target posture data to the database. In future operations, the next time the six-degree-of-freedom motion system responds to a request from the user and switches the working mode to the cam mode accordingly, the control system will read this data from the database to provide historical data support for the motion control algorithm.

[0076] After several runs, the system will store the most frequently used trajectories in the database. Users can quickly select the pre-stored trajectories through the touch screen interface and quickly control the slider to reach the target position, which not only greatly reduces the complexity of user operations, but also improves the response speed of trajectory selection and execution.

[0077] Optionally, in order to better adapt to different application scenarios, the system also allows users to flexibly combine multiple common trajectories with similar end trajectory points according to their needs to form a new composite trajectory. During the combination process, if there is a short-distance discontinuity between the two trajectories, the fifth-order polynomial difference can be used to complete the smooth transition of the new trajectory. This enables the end effector of the control system to perform a series of complex tasks more efficiently. Users only need to select the combined trajectory to quickly start the actuator without having to re-plan the specific path each time.

[0078] In the above implementation, by using the database, not only the flexibility of the system is improved, but also the time delay caused by trajectory selection is reduced, and the startup speed and operation efficiency of the mechanism are further optimized. Overall, the system's ease of use, responsiveness and adaptability in different usage scenarios are greatly enhanced.

[0079] In some embodiments, during the six-axis synchronous coordinated control process, please refer to the attached Figure 3a , the method further comprises:

[0080] S310, determining a posture error model.

[0081] Among them, the parameters of the posture error model include the Jacobian matrix, the displacement error of the driving slider, the vector along the direction of the driving rod, and the hinge error.

[0082] It should be understood that according to the target posture, the positions that the six sliders need to reach are calculated through the inverse solution algorithm, thereby obtaining six smooth cam curves. In actual operation, in order to monitor and feedback the actual motion state of the system in real time, it is also necessary to calculate the current posture state through the forward solution algorithm based on the actual position of the slider and the sensor data. Specifically, each slider is equipped with a displacement sensor, which can collect the data of the displacement sensor in real time. According to the collected 6 slider displacement values, the posture of the model is solved in real time, and compared with the target posture, the mechanism operation envelope, the model non-collision envelope, the required motion range envelope, and the software warning envelope to ensure that the model moves within a safe and required range.

[0083] For example, a numerical method can be used to solve the position solution of a six-degree-of-freedom motion system. The numerical method generally adopts the optimization search principle. Although it requires a lot of computing time, it cannot solve all the position solutions of the parallel mechanism, that is, the end effector, and can only achieve limited accuracy, but it can be applied to any form of parallel mechanism. The position solution of the six-degree-of-freedom motion system, that is, the information of multiple displacement points corresponding to each slider, has been calculated through attitude inverse solution, as shown in the following formula:

[0084]

[0085] Where i represents any one of the six sliders; U i Represents the coordinate vector of the slider in the static coordinate system; U ix U represents the coordinate vector of the slider along the X direction in the static coordinate system; iy U represents the coordinate vector of the slider along the X direction in the static coordinate system; iz represents the coordinate vector of the slider along the X direction in the static coordinate system; B ix represents the coordinate vector along the X direction; B iy represents the coordinate vector along the Y direction; B iz represents the coordinate vector along the Z direction; g i (x, y, z, α, β, γ) represents the six-degree-of-freedom displacement point information of slider i.

[0086] Furthermore, we can obtain the position U of the moving platform x, y, z, α, β, γ and the position of the slider i: iz The constraint equations are:

[0087] fi (x,y,z,α,β,γ)=U iz -g i (x,y,z,α,β,γ)=0

[0088] Extending to six degrees of freedom, we get six branch chain equations as follows:

[0089]

[0090] The process of solving the positive solution of the parallel mechanism position is to know the position U of the slider i. iz The process of obtaining the position x, y, z, α, β, γ of the moving platform under the condition of . Therefore, the positive solution for solving the position of the parallel slider is converted into the known U iz Solve the nonlinear equations about x, y, z, α, β, γ. Then the above equations can be simplified as:

[0091] F(X)=0

[0092] X=[xyzαβγ] T

[0093] F=[f 1 f 2 f 3 f 4 f 5 f 6 ] T

[0094] To simplify the calculation, the simplified Newton iteration method can be used to solve the above nonlinear equations. The iteration format is:

[0095] X k+1 =X k -[J(X 0) ] -1 F(X k ), (k=0,1,2…)

[0096] Further, the expansion is as follows:

[0097]

[0098] Finally, the posture solution of the moving platform is obtained, that is, the values ​​of x, y, z, α, β, and γ.

[0099] It is understandable that due to the gap error of the mechanical device, in order to ensure the final posture accuracy, after calculating the current posture state through the forward solution algorithm, it is necessary to compensate for the gap error at the software level. Specifically, the posture error model can be determined based on parameters such as the Jacobian matrix, the displacement error of the driving slider, the vector along the direction of the driving rod, and the hinge error.

[0100] For example, the mathematical expression of the posture error model can be shown as follows:

[0101] Δe=J -1 ·Δl-J -1 ·J c Δd

[0102] Where J is the Jacobian matrix, Δl is the displacement error of the driving slider, and J c is the vector along the direction of the driving rod, and Δd is the hinge error.

[0103] S320, performing inverse calculation based on the measured angle error under the posture error model to derive the clearance error of each actuator.

[0104] It is understandable that since the system structure, that is, the hinge error Δd, cannot be directly compensated, it can be seen from the above formula that the final posture error of the model caused by the gap of the system structure can be compensated by adjusting the displacement of the slider. However, since the posture error model of the control system contains 6 driving slider displacement parameters, it is relatively easy to perform kinematic inverse solution on it, and there is only one correct solution. Therefore, the final posture error of the model can be inverted to obtain the gap error of the 6 actuators by referring to the kinematic inverse solution algorithm. Since the gap error of the 6 actuators is a constant error, in the actual debugging and calibration process, the inverse solution calculation and analysis can be carried out through the measured values ​​of the angle errors under various model postures, so as to obtain the accurate gap error of the 6 actuators, and finally realize the gap compensation control of each actuator.

[0105] S330, performing displacement compensation on each slider based on the gap error.

[0106] For further information, please refer to Figure 3b , Figure 3b This is a schematic diagram of a system with clearance compensation control. Specifically, displacement compensation is performed on each slider based on the clearance error. First, the actual displacement of each slider can be measured in real time using a displacement sensor, and then the inverse solution is calculated based on the kinematic model of the six-degree-of-freedom motion system to obtain the theoretical displacement that each slider should reach without the influence of the error. Further, the displacement error of each slider is determined by comparing the actual displacement with the theoretical displacement using the posture error model. According to the posture error model, the displacement amount that needs to be compensated for each slider is calculated to correct the deviation caused by the mechanical clearance or other error factors. The calculated compensation amount is then converted into a control signal and sent to the servo controller. After receiving the compensation control signal, the servo controller adjusts the input of the servo motor to achieve precise control of the slider displacement. Finally, the servo motor moves according to the instructions of the controller to achieve compensation for the slider displacement. Optionally, the compensated displacement is measured again by the displacement sensor to form a feedback loop of closed-loop control to ensure the accuracy of the compensation.

[0107] In the above implementation, by establishing a posture error model and performing inverse calculation in combination with the measured angle error, the gap error of the actuator is derived based on the determined posture of the moving platform, and displacement compensation is performed to correct the posture deviation caused by the structural gap to ensure the accuracy of the final posture. Through such a process, the system can achieve precise motion control and compensate for the effects caused by mechanical gap and other error factors, thereby improving the overall performance and reliability of the system.

[0108] In some implementations, the posture error model is solved using a heuristic search algorithm, and the six sliders are compensated for displacement by taking the minimum comprehensive posture error as the objective function.

[0109] For details, please refer to Figure 3b The pose error model in the figure can be solved by using heuristic search algorithms such as genetic algorithm and particle swarm algorithm, with the minimum comprehensive pose error as the objective function to compensate the gap error of each slider. Then the corrected expected displacement trajectory is used as the tracking target of trajectory tracking control to track the trajectory of the driving slider to correct the pose deviation caused by the structural gap and ensure the accuracy of the final pose of the model.

[0110] In the above implementation, the heuristic search algorithm is used to calculate the optimal displacement compensation for each slider, thereby effectively correcting the posture deviation caused by mechanical clearance or other error factors. And through precise displacement compensation, the system can ensure the accuracy of the final posture of the model and meet the application scenarios with high precision requirements. At the same time, the flexibility of the heuristic search algorithm allows the system to adapt to various motion trajectories and posture changes, improving the versatility and adaptability of the system.

[0111] In some embodiments, the pose error model is expressed according to the following mathematical formula:

[0112] Δe=J -1 ·Δl-J -1 ·J c Δd

[0113] Where J is the Jacobian matrix, Δl is the displacement error of the driving slider, and J c is the vector along the direction of the driving rod, Δd is the hinge error, and Δe is the posture error.

[0114] Specifically, the Jacobian matrix is ​​a matrix that describes the kinematic relationship of a six-degree-of-freedom mechanism. It can convert the displacement of the slider into the change in the position and posture of the moving platform, and can be used to determine the relationship between the slider displacement and the change in the position and posture of the moving platform. The driving slider displacement error Δl can be the difference between the actual measured slider displacement and the theoretical calculated displacement, which can be caused by factors such as sensor accuracy limitations, machining errors, and assembly errors. The vector J along the direction of the driving rod is c It can be an error caused by geometric parameters of the mechanism, such as the relative position and direction between the slider and the drive rod. The hinge error Δd refers to the error caused by the hinges in the mechanism (such as bearings, connectors, etc.), which may affect the precise position of the slider. Δe is the error value finally calculated by the model, which can represent the deviation between the actual posture of the system and the target posture. Δe can be used to adjust the control system to ensure that the six-degree-of-freedom mechanism can accurately reach the predetermined target posture.

[0115] In the above implementation, the posture error model is obtained by designing an error factor that includes a variety of causing factors. Then, the displacement compensation required for each slider to achieve the target posture is calculated. And it is used to adjust the output of the servo controller to drive the slider to move along the compensated trajectory, thereby reducing the posture error and ultimately improving the accuracy and performance of the system.

[0116] In some embodiments, the measurement data of the motor encoder and the magnetic scale encoder are fused and processed, including:

[0117] Based on the noise characteristics of the motor encoder and the magnetic scale encoder, the data weighted fusion method is dynamically adjusted to perform weighted fusion on the measurement data of the motor encoder and the magnetic scale encoder.

[0118] Specifically, based on the noise characteristics of the motor encoder and the magnetic scale encoder, process noise and measurement noise models that reasonably reflect their accuracy and noise levels can be established for the motor encoder and the magnetic scale encoder, respectively. For example, since the motor encoder may be affected by mechanical vibration and its noise is relatively large, a noise model with relatively low accuracy can be set for it; while the magnetic scale encoder is usually more accurate and has less noise, so the accuracy of its noise model is also relatively high.

[0119] Furthermore, the Kalman filter is used to fuse the data collected by the two sensors, including state information such as position and speed, to obtain a more accurate estimate of the slider displacement. It should be noted that when collecting the state vector, it is necessary to ensure that accurate position information can be obtained at each time step. After obtaining these relatively accurate state information, the Kalman filter algorithm will dynamically adjust the weight of data fusion according to the noise characteristics of the two sensors to obtain the displacement data of each slider.

[0120] In the above implementation, the magnetic scale encoder is known for its high-precision static measurement, while the motor encoder is better at tracking dynamic motion. By combining the advantages of the two, not only the tracking ability of dynamic motion is improved, but also the accuracy of displacement data is improved overall. This method makes the six-degree-of-freedom motion control system more accurate and reliable when performing complex motion tasks.

[0121] In some embodiments, during the six-axis synchronous coordinated control process, please refer to the attached Figure 4a , the method further comprises:

[0122] S410: Determine a three-dimensional safety envelope space.

[0123] The three-dimensional safety envelope space may refer to a virtual area defined in three-dimensional space for representing the range within which the six-degree-of-freedom motion system can safely operate during operation. Specifically, the space may be established after taking into account all possible physical limitations and obstacles to ensure that the motion system will not collide or exceed physical limitations when performing tasks. Simulation technology may be used to simulate the inaccessible areas in three-dimensional space, thereby constructing the precise three-dimensional safety envelope space. For example, please refer to Figure 4b The three-dimensional safety envelope space can include the required motion range envelope, software warning envelope, mechanism non-collision envelope, and mechanism operation range envelope. Specifically, the data of the grating ruler can be collected in real time to monitor the displacement of the current slider, and the displacement of the slider can be uploaded to the touch-screen all-in-one machine. Then, the correct solution algorithm in the touch-screen all-in-one machine solves the posture of the model in real time, and the correct solution value is compared with the set safety envelope at all times.

[0124] S420, determining the current posture based on the displacement data of each slider, and controlling the six-degree-of-freedom motion system to stop moving when it is judged based on the current posture and the three-dimensional safety envelope space that each end of the six-degree-of-freedom motion system is not within a safe range.

[0125] Specifically, after determining the relevant data of the three-dimensional safety envelope space, the system can calculate and obtain the current posture in real time based on the displacement data of each slider through the forward solution algorithm during operation, and compare and analyze it with the pre-defined safety envelope space. If the current posture approaches or exceeds the safety envelope space threshold set by the user, the system will respond immediately. Specifically, when the posture exceeds the set safety threshold, the system will automatically trigger the emergency stop mechanism to quickly stop the movement of the mechanism to avoid collisions or other safety accidents.

[0126] It can be understood that since the three-dimensional safety envelope space can include the required motion range envelope, the software warning envelope, the mechanism non-collision envelope and the mechanism operation range envelope, there are many ways to determine whether the six-degree-of-freedom motion system is in safe operation.

[0127] Exemplarily, when the model posture is within the envelope of the required motion range, the mechanism can operate normally and reach the specified target posture. When the calculated model posture exceeds the safety envelope of the software warning range, the corresponding alarm information will be triggered, the control system will slow down and stop, and the corresponding test personnel will check it. After eliminating the safety hazards, the control will reset and continue to work. Similarly, when the calculated model posture exceeds the envelope of the mechanism without touching it, the control system will immediately brake and stop, and the corresponding test personnel will check it. After eliminating the safety hazards, the control will reset. In addition, in terms of mechanical mechanisms, safety limit switches will also be set to ensure that they do not exceed the envelope of the mechanism's operating range.

[0128] In addition, users can customize safety thresholds according to different application scenarios, that is, customize the three-dimensional safety envelope space, so that the system can provide optimal safety protection in various operating modes.

[0129] In the above-mentioned embodiment, in the six-degree-of-freedom motion control system, the system can ensure safety and accuracy when performing complex tasks through a precisely defined three-dimensional safety envelope space. This virtual area takes into account all physical limitations and obstacles, and simulates inaccessible areas through simulation technology, thereby constructing an accurate safe operating range. When the system is running, the displacement data collected in real time is used to determine the current posture, and is compared with the three-dimensional safety envelope space through a forward solution algorithm to ensure that the end effector is always within a safe range. This reduces the potential threats caused by human errors or environmental changes through real-time monitoring and automatic shutdown mechanisms, while also improving the convenience and response speed of operation, making the six-degree-of-freedom motion system more reliable and efficient.

[0130] It should be understood that, although the various steps in the above flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear description in this article, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the above flowchart may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0131] The present specification also provides a control device 500 for a six-degree-of-freedom motion system. Figure 5 As shown, it includes: a trajectory planning module 510, a displacement acquisition module 520 and a coordination control module 530, wherein:

[0132] The trajectory planning module 510 is used to plan the motion trajectories of the six sliders based on the target posture to obtain six smooth cam curves.

[0133] The displacement acquisition module 520 is used to fuse the measurement data of the motor encoder and the magnetic scale encoder for each slider to obtain the displacement data of each slider.

[0134] The coordination control module 530 is used to perform six-axis synchronous coordination control based on the displacement data of each slider, using a virtual axis as a guide axis and six smooth cam curves as follower axes, so that the six-degree-of-freedom motion system can operate based on the target posture.

[0135] In some embodiments, the trajectory planning module 510 is also used to determine the current posture information of the six sliders, and perform calculations based on the current posture information and the target posture of the six sliders to obtain multiple displacement point information corresponding to each slider; interpolation calculations are performed on the multiple displacement point information corresponding to each slider to obtain six smooth cam curves.

[0136] In some embodiments, the coordination control module 530 is further used to switch the working mode of the six-degree-of-freedom motion system to the cam mode, and clean the database so that the data corresponding to the current posture information and the target posture are stored in the database.

[0137] In some embodiments, the coordination control module 530 is also used to determine a posture error model, wherein the parameters of the posture error model include a Jacobian matrix, a displacement error of a driving slider, a vector along the direction of a driving rod, and a hinge error; an inverse calculation is performed based on the measured angle error under the posture error model to derive the gap error of each actuator; and displacement compensation is performed on each slider based on the gap error.

[0138] In some implementations, the coordination control module 530 is further used to adopt a heuristic search algorithm to solve and obtain a posture error model; and to perform displacement compensation on the six sliders with the minimum comprehensive posture error as the objective function.

[0139] In some implementations, the coordination control module 530 is further configured to express the pose error model according to the following mathematical formula:

[0140] Δe=J -1 ·Δl-J -1 ·J c Δd

[0141] Where J is the Jacobian matrix, Δl is the displacement error of the driving slider, and J c is the vector along the direction of the driving rod, Δd is the hinge error, and Δe is the posture error.

[0142] In some embodiments, the displacement acquisition module 520 is further used to dynamically adjust the data weighted fusion method based on the noise characteristics of the motor encoder and the magnetic scale encoder to perform weighted fusion on the measurement data of the motor encoder and the magnetic scale encoder.

[0143] In some embodiments, the coordination control module 530 is also used to determine a three-dimensional safety envelope space; determine the current posture based on the displacement data of each slider, and control the six-degree-of-freedom motion system to stop moving when it is judged based on the current posture and the three-dimensional safety envelope space that each end of the six-degree-of-freedom motion system is not within a safe range.

[0144] For the specific definition of a control device for a six-degree-of-freedom motion system, please refer to the definition of a control method for a six-degree-of-freedom motion system mentioned above, which will not be repeated here. Each module in the above-mentioned control device for the six-degree-of-freedom motion system can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0145] In this embodiment, a control device for a six-degree-of-freedom motion system is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above-mentioned functions.

[0146] The embodiment of the present application also provides a computer device, which may be a terminal, and its internal structure diagram may be as follows: Figure 6 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium.

[0147] Those skilled in the art will understand that Figure 6The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0148] The present application also provides a computer-readable storage medium, and the above method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or downloaded through a network and originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory.

[0149] The embodiment of the present application provides a computer program product, which includes computer instructions, which are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method of any embodiment of the present application.

[0150] The control method, storage medium and system of a six-degree-of-freedom motion system described in the above embodiments can be implemented by a computer chip or entity, or by a product with a certain function. A typical implementation device is a computer. For the convenience of description, the above device is described separately by function into various units. Of course, when implementing this application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0151] The present application is described with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, and the combination of the process and / or box in the flowchart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for realizing the function specified in one process or multiple processes in the flowchart and / or one box or multiple boxes in the block diagram.

[0152] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0153] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0154] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0155] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. Since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0156] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

[0157] Although the embodiments of the present application are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A control method for a six-degree-of-freedom motion system, characterized in that: include: The motion trajectories of the six sliders are planned based on the target posture to obtain six smooth cam curves; For each slider, the measurement data of the motor encoder and the magnetic scale encoder are fused and processed to obtain the displacement data of each slider; Based on the displacement data of each slider, a virtual axis is used as a guide axis, and the six smooth cam curves are used as follower axes, and six-axis synchronous and coordinated control is performed to enable the six-degree-of-freedom motion system to operate based on the target posture.

2. The control method of the six-degree-of-freedom motion system according to claim 1, characterized in that: Based on the target posture, the motion trajectory of the six sliders is planned to obtain six smooth cam curves, including: Determine current posture information of six sliders, and perform calculation based on the current posture information of the six sliders and the target posture to obtain a plurality of displacement point information corresponding to each slider; Interpolation calculation is performed on the multiple displacement point information corresponding to each slider to obtain the six smooth cam curves.

3. The control method of the six-degree-of-freedom motion system according to claim 2, characterized in that: When planning the motion trajectories of the six sliders based on the target posture, the method further includes: The working mode of the six-degree-of-freedom motion system is switched to the cam mode, and the database is cleaned so that the data corresponding to the current posture information and the target posture are stored in the database.

4. The control method of a six-degree-of-freedom motion system according to any one of claims 1 to 3, characterized in that: During the six-axis synchronous coordinated control process, the method further includes: Determine a posture error model, wherein parameters of the posture error model include a Jacobian matrix, a displacement error of a driving slider, a vector along a driving rod direction, and a hinge error; Performing an inverse calculation based on the measured angle error under the posture error model to derive the clearance error of each actuator; Displacement compensation is performed on each slider based on the gap error.

5. The control method of the six-degree-of-freedom motion system according to claim 4, characterized in that: The posture error model is solved by a heuristic search algorithm, and the displacement compensation of the six sliders is performed with the minimum comprehensive posture error as the objective function.

6. The control method of the six-degree-of-freedom motion system according to claim 4, characterized in that: The posture error model is expressed according to the following mathematical formula: Δe=J -1 ·Δl-J -1 ·J c Δd Where J is the Jacobian matrix, Δl is the displacement error of the driving slider, and J c is the vector along the direction of the driving rod, Δd is the hinge error, and Δe is the posture error.

7. The control method of the six-degree-of-freedom motion system according to claim 1, characterized in that: The measurement data of the motor encoder and the magnetic scale encoder are fused and processed, including: Based on the noise characteristics of the motor encoder and the magnetic scale encoder, the data weighted fusion method is dynamically adjusted to perform weighted fusion on the measurement data of the motor encoder and the magnetic scale encoder.

8. The control method of the six-degree-of-freedom motion system according to claim 1, characterized in that: During the six-axis synchronous coordinated control process, the method further includes: Determine the three-dimensional safety envelope space; The current posture is determined based on the displacement data of each slider, and when it is determined based on the current posture and the three-dimensional safety envelope space that each end of the six-degree-of-freedom motion system is not within a safety range, the six-degree-of-freedom motion system is controlled to stop moving.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method of the six-degree-of-freedom motion system according to any one of claims 1-8 is implemented.

10. A six-degree-of-freedom motion system, comprising a memory, a processor, and a computer program stored in the memory, characterized in that: When the computer program is executed by the processor, the control method of the six-degree-of-freedom motion system according to any one of claims 1-8 is implemented.

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