Trajectory planning method, device, equipment and medium for machine tool

Abstract

The application relates to the technical field of intelligent manufacturing, and particularly relates to a trajectory planning method and device for a machine tool, equipment and a medium. The method comprises the following steps: analyzing a G code trajectory file of a numerical control machine tool to generate intermediate trajectory instructions; in a Cartesian space trajectory represented by the intermediate trajectory instructions, a direction included angle and a theoretical speed change amount are calculated according to a pose parameter and a motion parameter; according to the direction included angle and the theoretical speed change amount, trajectory points are divided into segmented points or merged points to perform trajectory segmentation and merging processing on the Cartesian space trajectory; based on the Cartesian space trajectory subjected to the trajectory segmentation and merging processing, a joint space trajectory is constructed through discrete and inverse solution processing; and machine tool control instructions are generated by performing smooth transition processing and speed planning processing on the joint space trajectory. Compared with related technologies, the problems of low machining efficiency, poor precision and large vibration of the trajectory planning method in the application of the machine tool are solved.

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