A composite material special-shaped part cutting robot trajectory planning method and system

Abstract

The present application relates to the field of data processing, and more particularly to a kind of composite profiled part cutting robot trajectory planning method and system.The method comprises: the trajectory to be processed is solved into the theoretical angular velocity of each drive shaft of robot;Using minimum equivalent inertia strategy to optimize processing sequence, ensure that robot is in low inertia processing configuration;Dynamic centrifugal load index model and kinetic energy reserve capacity index model are constructed, and dynamic centrifugal load index and kinetic energy reserve capacity index of robot are calculated;Based on energy supply and demand balance strategy, the ratio of dynamic centrifugal load index and kinetic energy reserve capacity index is used to calculate energy balance correction weight, and the weight of control point contained in the trajectory to be processed is corrected, and finally motion control instruction is generated.The present application automatically corrects the trajectory characteristics through energy supply and demand balance at physical level, effectively suppresses the burr and layering phenomenon in composite profiled part processing, and prolongs the service cycle of robot.

Description

Technical Field

[0001] This invention relates to the field of data processing, and in particular to a method and system for trajectory planning of a robot for cutting irregularly shaped composite materials. Background Technology

[0002] In the aerospace and high-end equipment manufacturing fields, carbon fiber reinforced materials and glass fiber reinforced materials are widely used in the manufacture of composite material irregular parts such as satellite radomes, radar fairings, and UAV wing skins due to their excellent specific strength and specific modulus. These composite material irregular parts usually have complex spatial curved surface features, and require precise post-processing steps such as trimming and drilling after molding.

[0003] In the post-processing of composite material irregular-shaped parts, trajectory planning is a core step determining the processing quality. Due to the anisotropy and weak interlayer bonding of composite material irregular-shaped parts, even minor vibrations during processing can easily lead to material delamination, tearing, or burrs, severely impacting product quality. Currently, there are two main approaches to trajectory planning for robots:

[0004] The first type is velocity look-ahead planning based on geometric features. This method mainly detects the curvature of corners in the processing sequence and reduces speed at sharp geometric bends. However, this method is essentially a temporal adjustment and cannot change the spatial geometric torsional characteristics of the trajectory to be processed. The robot's drive axis still needs to withstand severe instantaneous acceleration when passing through these areas, and the physical impact still exists.

[0005] The second type is optimization based on kinematic indices. This method uses the Jacobian matrix and its condition number to evaluate the robot's flexibility, aiming to avoid singular configurations. However, this method only considers the velocity transmission ratio and ignores the robot's mass distribution characteristics. For example, when the robot's arm link is extended horizontally, its effective rotational inertia is extremely large. Even if the kinematic speed is achievable, excessive inertia will cause overshoot during actual physical braking, leading to trajectory deviation or oscillation.

[0006] In summary, existing trajectory planning methods often rely on empirical parameters such as smoothing factors and weighting coefficients to balance the trajectory, which cannot adapt to composite material parts with different curvatures. Furthermore, they only consider the geometry or motion speed and rely on trial and error to adjust parameters, resulting in low efficiency and difficulty in ensuring processing quality. Summary of the Invention

[0007] To address the problem that existing technologies neglect robot inertia distribution and motion characteristics, which leads to vibration and delamination defects in the processing of composite material irregular parts, this invention provides a trajectory planning method and system for cutting composite material irregular parts using a robot.

[0008] In a first aspect, the present invention provides a trajectory planning method for a robot cutting irregularly shaped composite materials, employing the following technical solution:

[0009] A trajectory planning method for a composite material irregular part cutting robot includes: acquiring a three-dimensional model of the composite material irregular part to be processed; sorting the processing sequences of multiple discontinuous processing features on the three-dimensional model according to a minimum equivalent inertia strategy to determine a processing sequence that allows the robot to maintain a low inertia and compact configuration; constructing a parameterized mathematical model of the processing sequence using non-uniform rational spline curves, defined as the processing trajectory, wherein the processing trajectory is defined by multiple control points; discretizing the processing trajectory to obtain path discrete points; solving the path discrete points into theoretical angular velocities of each drive axis of the robot using an inverse kinematics algorithm; constructing a dynamic centrifugal load index model to calculate the dynamic centrifugal load index applied by the processing trajectory to the end tool of the robot; constructing a kinetic energy reserve capacity index model to calculate the kinetic energy reserve capacity index of the robot; calculating an energy balance correction weight based on the dynamic centrifugal load index and the kinetic energy reserve capacity index, based on a preset energy supply and demand balance strategy, and then generating motion control commands to correct the processing trajectory, wherein the energy supply and demand balance strategy includes the ratio of the dynamic centrifugal load index to the kinetic energy reserve capacity index.

[0010] This invention introduces the concept of energy supply and demand balance, treating the trajectory as a load and the robot as an energy source. The ratio between the two is calculated using physical formulas, and the trajectory is automatically corrected without human intervention. The energy supply and demand balance model smooths the trajectory to be processed, suppressing vibrations caused by sudden load changes during the processing of the robot.

[0011] Furthermore, the method further includes: obtaining a set of dynamic parameters of the robot, the set of parameters including: the number of drive axes of the robot, the rated load torque of the robot, the effective moment of inertia of each drive axis of the robot, the minimum moment of inertia, and the physical limit angular velocity.

[0012] This invention establishes a dynamic mapping relationship by reading the physical parameters of a real robot and the limits of material processing. Using inverse kinematics, the trajectory to be processed is transformed into the physical motion requirements of each drive axis of the robot, providing a precise data foundation for subsequent energy calculations.

[0013] Furthermore, the processing sequences of multiple discontinuous processing features on the three-dimensional model are sorted according to the minimum equivalent inertia strategy. Specifically, for the processing sequences of the multiple discontinuous processing features, all processing sequences are traversed, the sum of the effective rotational inertia of each drive axis of the robot in the processing sequence is calculated, and only the processing sequence with the lowest sum is retained.

[0014] This invention effectively suppresses fluctuations in the robot's center of gravity and vibrations of the robot's base caused by drastic changes in configuration by maintaining a low-inertia, compact configuration during the machining process, thereby providing a stable physical platform for high-precision cutting of composite material irregular parts.

[0015] Furthermore, the dynamic centrifugal load index model satisfies the following relationship:

[0016] ;

[0017] Among them, parameters The path parameters of the trajectory to be processed; For the trajectory to be processed in parameters Dynamic centrifugal load index at the location; It refers to the quality of the robot's end effector. It is the equivalent distance from the centroid of the robot's end-effector to the center of the robot's end flange; The preset command feed rate; For the trajectory to be processed in parameters Curvature at that point; For the trajectory to be processed in parameters torsion at the point; This is the robot's rated load torque.

[0018] This invention constructs a dynamic centrifugal load index model, introducing a velocity square term and a spatial torsion term into the trajectory load evaluation, enabling precise identification of high-energy load regions that traditional geometric algorithms cannot recognize. In the machining of composite material irregular parts, even with a low degree of trajectory curvature, severe three-dimensional spatial torsion at high speeds can still generate a huge dynamic centrifugal load index. This energy directly acts on the contact point between the robot's end-effector and the material, easily tearing the interlayer structure of the composite material irregular part. This invention, by quantifying this index and forcibly correcting it, effectively suppresses the destructive effect of the dynamic centrifugal load index on the interlayer structure of composite material irregular parts, thereby effectively suppressing burrs and delamination in the edge machining of composite material irregular parts such as satellite radomes and wing skins.

[0019] Furthermore, the kinetic energy reserve capacity index model satisfies the following relationship:

[0020] ;

[0021] Among them, parameters The path parameters of the trajectory to be processed; When the robot is running on the trajectory to be processed, under the parameters The energy reserve capacity index at the location; Define the number of drive axes of the robot. Each drive axis can be any drive axis of the robot. For the first The effective moment of inertia of each drive shaft For the first The physical limit angular velocity of each drive shaft; For parameters First The theoretical angular velocity of each drive shaft; For the first The minimum moment of inertia of each drive shaft.

[0022] This invention constructs a kinetic energy reserve capacity index model, abandoning the Jacobian matrix and instead calculating the robot's kinetic energy reserve capacity index. By using the effective rotational inertia of each drive axis for weighted calculation, it achieves focused protection for high-inertia drive axes, avoiding trajectories requiring sudden stops and starts of high-inertia drive axes. This reduces the peak current of the servo motor and the mechanical shock of the reducer, extending the robot's service life.

[0023] Furthermore, the energy balance correction weights satisfy the following relationship:

[0024] ;

[0025] in, The energy balance correction weights characterize the weights of the control points included in the corrected trajectory to be processed. The weights of the control points contained in the trajectory to be processed before correction. As an indicator of kinetic energy reserve capacity, This is a dynamic centrifugal load index.

[0026] This invention constructs an automatic negative feedback adjustment mechanism through the aforementioned energy balance correction weights. By dynamically correcting the weights, the robot automatically smooths its trajectory when the dynamic centrifugal load exceeds the kinetic energy reserve capacity, and maintains trajectory accuracy when the kinetic energy reserve capacity is sufficient. This achieves adaptive process optimization without human intervention, greatly improving R&D efficiency.

[0027] Furthermore, the energy balance correction weight modifies the weight of the control points contained in the trajectory to be processed, including: maintaining or slightly increasing the weight of the control points contained in the trajectory to be processed when the ratio of the kinetic energy reserve capacity index to the dynamic centrifugal load index is greater than 1, or when the dynamic centrifugal load index approaches 0; and decreasing the weight of the control points contained in the trajectory to be processed when the ratio of the kinetic energy reserve capacity index to the dynamic centrifugal load index is less than 1, so that the trajectory to be processed moves away from the contained control points to increase the radius of curvature.

[0028] This invention ensures the targetedness and effectiveness of trajectory correction through bidirectional adjustment logic. When the kinetic energy reserve capacity is less than the dynamic centrifugal load, the radius of curvature is increased to ensure physical safety, thereby strictly limiting the processing within the physical safety domain and eliminating processing defects caused by exceeding limits.

[0029] Furthermore, the motion control commands include: the position coordinates, attitude angle, and commanded feed speed of the robot's end effector.

[0030] This invention clarifies that the core purpose of the sorting strategy is not only efficiency, but also quality. By suppressing the vibration of the robot's base, the end effector jitter problem commonly encountered in high-precision machining is solved, ensuring the consistency of the machined surface.

[0031] Furthermore, the effective moment of inertia and physical limit angular velocity of each drive axis of the robot are obtained by reading them directly from the robot's controller.

[0032] This invention eliminates the reliance on complex dynamic identification experiments through this direct reading method, making the method highly practical and portable for engineering applications, and enabling rapid deployment on different types of robots.

[0033] Secondly, this invention provides a trajectory planning system for a robot cutting irregularly shaped composite materials, employing the following technical solution:

[0034] A trajectory planning system for a composite material irregular part cutting robot includes a processor and a memory. The memory stores computer program instructions, and when the computer program instructions are executed by the processor, the aforementioned trajectory planning method for a composite material irregular part cutting robot is implemented.

[0035] By adopting the above technical solution, a computer program is generated from the above-mentioned method for trajectory planning of a composite material irregular part cutting robot, and stored in a memory for loading and execution by a processor. A terminal device is then made based on the memory and processor for convenient use.

[0036] The present invention has the following technical effects:

[0037] This invention views trajectory planning as a process of balancing the supply and demand of load energy and driving energy, addressing the trajectory smoothing problem from the perspective of the essence of physical energy. By constructing a dynamic centrifugal load index model, it accurately captures high-dimensional spatial load characteristics including curvature and deflection, effectively identifying and suppressing dynamic centrifugal load indices that cause delamination of composite material irregular parts, thus effectively suppressing burrs and delamination phenomena. By constructing a kinetic energy reserve capacity index model, it fully considers the robot's physical inertia distribution, actively protecting high-inertia drive shafts and preventing operation in configurations exceeding their physical limits, thereby protecting the mechanical structure, reducing peak current, and extending the robot's service life. Through an energy supply and demand balancing strategy, it automatically calculates energy balance correction weights, eliminating dependence on manual experience parameters and achieving adaptive adjustment of the weights of control points included in the trajectory to be processed, possessing extremely high universality and R&D efficiency. The ranking of the minimum equivalent inertia strategy at the macroscopic level further ensures the stability of the overall machine operation and suppresses vibration of the robot's base. Attached Figure Description

[0038] Figure 1 This is a flowchart of a trajectory planning method for a composite material irregular part cutting robot provided in an embodiment of the present invention;

[0039] Figure 2 This is a trajectory comparison diagram provided in an embodiment of the present invention. Detailed Implementation

[0040] This invention provides a trajectory planning method for a robot cutting irregularly shaped composite materials, referring to... Figure 1 This includes steps S1-S4:

[0041] S1: Acquisition of dynamic parameters and spatial mapping.

[0042] (1) Obtain a three-dimensional model of the composite material irregular part to be processed;

[0043] (2) Setting Regarding the number of drive axes of the robot, this embodiment uses a six-axis robot, i.e., setting... ;

[0044] It should be noted that, in this embodiment, the following is set: This is to demonstrate the upper limit of the invention in handling high-dimensional motion redundancy and complex inertial coupling generated when using six-axis linkage. The invention is also fully applicable to robots with fewer than six drive axes, such as... This invention relates to a five-axis robot. Because a five-axis robot can be considered a subset of a six-axis robot, meaning that a variable in one dimension is a fixed value or zero, the physical energy model constructed in this invention, for a five-axis robot, is equivalent to covering a lower-dimensional space from a higher dimension. Its physical constraints and energy matching principles remain valid and possess a greater safety margin and higher stability. Therefore, both five-axis and six-axis robots are within the scope of protection of this invention.

[0045] (3) Read the effective rotational inertia of each drive axis from the robot's controller. and physical limit angular velocity ;

[0046] (4) Extract the processing trajectory of the edge to be cut from the three-dimensional model of the composite material part to be processed. The trajectory is mathematically defined as a non-uniform rational spline curve. Discretize the curve to obtain a series of ordered path discrete points. Each path discrete point contains not only spatial position coordinates, but also the attitude angle used to describe the direction of the robot's end tool, ensuring that the robot's end tool is always perpendicular to the surface normal of the composite material part during the cutting process.

[0047] (5) Using the inverse kinematics algorithm, the discrete points of the path containing spatial position coordinates and attitude angles are converted into the angular displacements of each drive axis of the robot, and then the theoretical angular velocity of the drive axis corresponding to each point is calculated. .

[0048] S2: Inertia minimization sorting of processing sequences.

[0049] When planning the processing sequence of multiple discontinuous processing features (such as multiple windows on a fairing) distributed on composite irregular parts, a minimum equivalent inertia strategy is adopted.

[0050] Specifically, when the robot transforms from configuration A to configuration B, the sum of the effective rotational inertia of each drive axis is calculated, and only the processing sequence with the lowest sum is retained. This avoids the situation where the robot makes large-scale switching between high-inertia extended configurations and low-inertia compact configurations during the cutting process, comprehensively considers the robot's energy stability, and suppresses the vibration of the robot's base.

[0051] S3: Trajectory dynamics correction based on energy supply and demand balance.

[0052] For non-uniform rational spline curves between processes, a dynamic centrifugal load index model, a kinetic energy reserve capacity index model, and an energy supply and demand balance model are constructed to correct them.

[0053] It should be noted that, in this embodiment, a parametric geometric model of the robot's machining trajectory is established using the non-uniform rational spline curve. By transforming the continuous cutting motion in physical space into a mathematical curve of the machining trajectory, the geometric properties of this curve, such as the second derivative curvature and the third derivative torsion, are defined as theoretical physical quantities characterizing the motion constraints experienced by the robot's end effector at the corresponding position, serving as the calculation basis for subsequent dynamic analysis. In this parametric geometric model, parameters are defined... These are the path parameters of the mathematical curve of the trajectory to be processed, ranging from [0,1], where 0 represents the starting point and 1 represents the ending point. The parameters are calculated... The curvature, deflection, and load conditions corresponding to the location are used to achieve point-by-point physical analysis of the trajectory to be processed.

[0054] 1. Construct a dynamic centrifugal load index model

[0055] Abandoning the calculation of single geometric curvature, by introducing the square term of velocity and the spatial torsion term, the dynamic centrifugal load index exerted by the trajectory on the robot's end tool is calculated. That is, the load caused by the robot's end tool moving at high speed along the trajectory due to sharp turns and spatial helical torsion, which leads to the separation of the interlayer structure of composite irregular parts.

[0056] Dynamic centrifugal load index The relation is:

[0057]

[0058] in, It refers to the quality of the robot's end effector. It is the equivalent distance from the centroid of the robot's end-effector to the center of the robot's end flange; The preset command feed rate; For non-uniform rational spline curves in parameters Curvature at that point; For non-uniform rational spline curves in parameters torsion at the point; This is the robot's rated load torque, used to normalize dynamic centrifugal load parameters, and is directly obtained from the robot's controller.

[0059] It can be seen that by introducing To capture the risks of high-speed, gentle bending, even if the bend is not large, if the speed is extremely high, the dynamic centrifugal load index will still tear the interlayer structure of the composite material irregular part.

[0060] It should be noted that, Characterizing the end effector of a robot in terms of parameters The higher the dynamic centrifugal load index at the location, the better. The presence of drastic spatial geometric abrupt changes or high-speed torsion can easily lead to tearing of irregularly shaped composite material parts.

[0061] It should be noted that, to ensure the continuity and differentiability of the dynamic calculations, the trajectory to be processed in this embodiment needs to undergo a geometric continuity check before discretization. Specifically, the trajectory to be processed should meet the G2 continuity requirement. For cusps or polylines that do not meet the G2 continuity requirement, they need to be smoothed using fillet or B-spline transition algorithms to ensure the parameters are consistent. The second derivative exists and is finite over the entire domain, thus ensuring that the physical meaning of curvature and torsion is clear.

[0062] When machining the edge of a satellite radome, there may be situations with a large radius of curvature but a spiral twist in space. Measuring only the curvature can misinterpret it as a smooth trajectory, causing the robot to maintain high speed. As a result, the hidden torsional force causes severe lateral vibration of the robot's end effector, leading to material delamination. However, by introducing... It can identify that this is a high-energy load area and automatically reduce the weight of this trajectory segment, thus avoiding tearing of composite material irregular parts due to high-speed torsion.

[0063] 2. Construct a kinetic energy reserve capacity index model

[0064] Discarding the Jacobian matrix, this paper calculates the kinetic energy reserve capacity of each drive axis of the robot, quantifying the robot's performance in terms of parameters. The ability of each drive shaft to cope with sudden load changes.

[0065] Kinetic energy reserve capacity index The relation is:

[0066]

[0067] in, This represents the number of drive axes of the robot. For the first The effective rotational inertia of each drive shaft; For the first The physical limit angular velocity of each drive shaft; For the first The theoretical angular velocity of each drive shaft; For the first The minimum moment of inertia of each drive shaft can be obtained directly from the robot manual.

[0068] When the robot is in a high-inertia extended configuration, such as when the main arm link is fully extended during machining... It's very big, even Less than The results calculated by the kinetic energy reserve capacity index model still show that the kinetic energy reserve capacity index is insufficient, which limits the robot's movement.

[0069] It should be noted that, The smaller the value, the more likely the robot is in a high-inertia extension configuration, which limits its acceleration and deceleration capabilities and creates a huge inertial torque, making it prone to oscillation.

[0070] 3. Construct an energy supply and demand balance model

[0071] Characterizing the end effector of a robot in terms of parameters Dynamic centrifugal load index at the location, The kinetic energy reserve capacity index of each drive axis of the robot is used; the weights of control points contained in the non-uniform rational spline curve are corrected using an energy supply and demand balance strategy, if the robot's parameters... If the kinetic energy reserve capacity index is greater than the dynamic centrifugal load index, the original state can be maintained; otherwise, correction is required.

[0072] Energy balance correction weight The relation is:

[0073]

[0074] in, The weights are the control points contained in the non-uniform rational spline curve before correction.

[0075] This is an automatic negative feedback adjustment mechanism: in the parameters When the robot's dynamic centrifugal load index is less than its kinetic energy reserve capacity index, The weights are maintained or slightly increased to ensure trajectory accuracy; when the robot's dynamic centrifugal load index exceeds its kinetic energy reserve capacity index, Weight decay means that the trajectory to be processed will move away from the control points it contains, automatically increasing the radius of curvature until supply and demand are balanced.

[0076] S4: Trajectory Output and Verification.

[0077] Using an interpolation algorithm, the corrected non-uniform rational spline curve is discretized to generate motion control commands that the robot's controller can recognize. These commands include the corrected position coordinates, attitude angles, and command feed speed of the robot's end effector.

[0078] The generated motion control commands are loaded into the robot's controller for execution, guiding the robot to complete the cutting and processing of composite material irregular parts. Because the trajectory has been smoothed at the energy level, the energy fluctuations of the robot during operation are limited to a safe range, eliminating the physical causes that could trigger vibrations.

[0079] Figure 2This is a trajectory comparison diagram provided by an embodiment of the present invention. The black dots in the diagram represent control points contained in the non-uniform rational spline curve, and the red dashed line is the original trajectory. There is a high curvature at the control point with coordinates (1.0,4), which indicates a high dynamic centrifugal load index. By correcting the weight at this control point, the trajectory is made to move away from the control point, and the robot is finally able to cut in a vibration-free and low-impact manner.

Claims

1. A trajectory planning method for a robot cutting composite material irregular parts, characterized in that, include: A 3D model of the composite material part to be processed is obtained. The processing sequence of multiple discontinuous processing features on the 3D model is sorted according to the minimum equivalent inertia strategy to determine the processing sequence that keeps the robot in a low inertia compact configuration. A parameterized mathematical model of the processing sequence is constructed using non-uniform rational spline curves and defined as the processing trajectory. The processing trajectory is defined by multiple control points. The processing trajectory is discretized to obtain the path discrete points. The inverse kinematics algorithm is used to solve the path discrete points into the theoretical angular velocities of each drive axis of the robot. A dynamic centrifugal load index model is constructed to calculate the dynamic centrifugal load index exerted by the machining trajectory on the robot's end tool; the dynamic centrifugal load index model satisfies the following relationship: ,parameter These are the path parameters for the trajectory to be processed. For the trajectory to be processed in parameters Dynamic centrifugal load index at the location, It is the quality of the robot's end effector. It is the equivalent distance from the centroid of the robot's end-effector to the center of the robot's end flange. The preset command feed rate, For the trajectory to be processed in parameters curvature at that point For the trajectory to be processed in parameters torsion at the point, This is the robot's rated load torque; A kinetic energy reserve capacity index model is constructed to calculate the robot's kinetic energy reserve capacity index; the kinetic energy reserve capacity index model satisfies the following relationship: ,parameter These are the path parameters for the trajectory to be processed; For the robot to run on the trajectory to be processed, in terms of parameters The energy reserve capacity index at the location; Define the number of drive axes of the robot. Each drive axis can be any drive axis of the robot; For the first The effective moment of inertia of each drive shaft For the first The physical limit angular velocity of each drive shaft For parameters First The theoretical angular velocity of each drive shaft For the first Minimum moment of inertia of each drive shaft; Based on the dynamic centrifugal load index and the kinetic energy reserve capacity index, the energy balance correction weight is calculated based on the preset energy supply and demand balance strategy, and then motion control commands are generated to correct the trajectory to be processed. The energy supply and demand balance strategy includes the ratio of the dynamic centrifugal load index to the kinetic energy reserve capacity index.

2. The trajectory planning method for a composite material irregular part cutting robot according to claim 1, characterized in that, The method further includes: obtaining a set of dynamic parameters of the robot, the set of parameters including: the number of drive axes of the robot, the rated load torque of the robot, the effective moment of inertia of each drive axis of the robot, the minimum moment of inertia, and the physical limit angular velocity.

3. The trajectory planning method for a robot cutting composite material irregular parts according to claim 1, characterized in that, The processing sequences of multiple discontinuous processing features on the 3D model are sorted according to the minimum equivalent inertia strategy, specifically including: For the processing sequence of the multiple discontinuous processing features, traverse all processing sequences, calculate the sum of the effective rotational inertia of each drive axis of the robot in the processing sequence, and retain only the processing sequence with the lowest sum.

4. The trajectory planning method for a composite material irregular part cutting robot according to claim 1, characterized in that, The energy balance correction weights satisfy the following relationship: ； in, The energy balance correction weights characterize the weights of the control points included in the corrected trajectory to be processed. The weights of the control points contained in the trajectory to be processed before correction. The energy reserve capacity index is mentioned above. The dynamic centrifugal load index is mentioned above.

5. The trajectory planning method for a composite material irregular part cutting robot according to claim 1, characterized in that, Correcting the trajectory to be processed specifically refers to correcting the weights of the control points contained in the trajectory to be processed using the energy balance correction weights, including: When the ratio of the kinetic energy reserve capacity index to the dynamic centrifugal load index is greater than 1, or when the dynamic centrifugal load index approaches 0, the weight of the control points contained in the trajectory to be processed is maintained or slightly increased. In response to the ratio of the kinetic energy reserve capacity index to the dynamic centrifugal load index being less than 1, the weight of the control points contained in the trajectory to be processed is reduced, so that the trajectory to be processed is moved away from the contained control points to increase the radius of curvature.

6. The trajectory planning method for a composite material irregular part cutting robot according to claim 1, characterized in that, The motion control commands include: the position coordinates, attitude angle, and commanded feed speed of the robot's end effector.

7. The trajectory planning method for a composite material irregular part cutting robot according to claim 2, characterized in that, The effective moment of inertia and physical limit angular velocity of each drive axis of the robot are obtained by reading them directly from the robot's controller.

8. A trajectory planning system for a robot cutting composite material irregular parts, characterized in that, include: A processor and a memory, wherein the memory stores computer program instructions that, when executed by the processor, implement a trajectory planning method for a composite material irregular part cutting robot according to any one of claims 1-7.

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