Industrial robot multi-axis coordinated motion control system and method

Abstract

This invention discloses a multi-axis cooperative motion control system and method for industrial robots, relating to the field of robot control technology. The system includes a data acquisition module, a machining constraint processing module, a constraint matching module, a conflict relationship generation module, a constraint arbitration module, and a motion reconstruction module. The data acquisition module acquires the machining trajectory, tool status, axis motion status of each joint axis, and current machining segment number in the surface grinding machining program. The machining constraint processing module generates a set of machining constraints including maintenance-type machining constraints, amplitude-limiting deviation-type machining constraints, substitution adjustment-type machining constraints, and axis motion boundary constraints. The constraint matching module calculates the execution requirements and matches them with the axis motion boundary constraints. The conflict relationship generation module generates a machining constraint conflict relationship table. The constraint arbitration module generates machining constraint arbitration results. The motion reconstruction module generates local multi-axis motion reconstruction instructions based on these results. The system can transform machining constraint conflicts in surface grinding into executable multi-axis motion control results.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, specifically to a multi-axis cooperative motion control system and method for industrial robots. Background Technology

[0002] When industrial robots are used for surface grinding, multiple joint axes typically need to be controlled to move collaboratively according to the surface grinding program. This ensures the grinding tool moves along the machining trajectory while maintaining the tool axis direction, tool posture, and contact force within the required process range. On smooth curved surfaces, existing trajectory interpolation, servo following, and contact force control can usually meet the machining requirements. However, at locations with curvature changes, workpiece edges, concave avoidance positions, or tool retraction positions, tool orientation maintenance, contact force maintenance, posture continuity, and joint axis motion boundaries all participate in the constraint process simultaneously. Multiple machining constraints may compete for the position, velocity, acceleration, drive output, or limit of the same joint axis within the same local machining window. Position margin; existing control methods mostly classify such situations into trajectory error compensation, force control adjustment, attitude correction, speed reduction avoidance or alarm shutdown. Each processing link usually only addresses a single error or a single boundary, lacking a judgment process that unifies the processing constraints, joint axis occupancy relationship and handling method; when at least two processing constraints cannot be executed simultaneously within the same axis motion boundary, the system has difficulty in determining which processing constraints should be maintained, which processing constraints should be adjusted for deviation, and which processing constraints should be adjusted through feed rate, redundant joints or transition points, which can easily lead to problems such as repeated local adjustments, unclear processing segment handling basis and discontinuous reconstruction of multi-axis motion targets; Therefore, how to identify machining constraint conflicts within a local machining window during surface grinding and generate executable multi-axis collaborative motion reconstruction commands based on the relationship between machining constraints and joint axis occupancy is a technical problem that needs to be solved. Summary of the Invention

[0003] This invention provides a multi-axis cooperative motion control system and method for industrial robots to solve the problems that existing control methods struggle to uniformly identify machining constraint conflicts, determine the handling relationship of machining constraints, and form a continuous and executable multi-axis motion target reconstruction result when multiple machining constraints compete for joint axis motion boundaries within the same local machining window during surface grinding.

[0004] To achieve the above objectives, the present invention provides the following technical solution: A multi-axis cooperative motion control system for an industrial robot includes a data acquisition module, a machining constraint processing module, a constraint matching module, a conflict relationship generation module, a constraint arbitration module, and a motion reconstruction module. The data acquisition module acquires the machining trajectory, tool axis direction, contact force range, tool posture, axis motion state of each joint axis, and current machining segment number from the surface grinding process, and outputs them to the machining constraint processing module. Furthermore, the data acquisition module reads the machining trajectory through the trajectory reading unit, the tool axis direction, the given range of contact force, and the tool posture through the tool status reading unit, and the joint axis position, joint axis velocity, joint axis acceleration, drive output status, and joint limit distance of each joint axis through the axis status reading unit, and uses these as the axis motion state of each joint axis; the machining segment number reading unit identifies the machining trajectory interval containing at least one of the following: curvature change position, workpiece edge position, concave avoidance position, and tool retraction position, and uses the corresponding number as the current machining segment number; enabling the machining constraint processing module to obtain four types of input data: machining object, tool status, joint axis status, and machining segment position.

[0005] The machining constraint processing module reads the corresponding machining constraint configuration based on the current machining segment number to obtain the machining constraint set for the current machining segment. The machining constraint set includes maintenance-type machining constraints, amplitude limit deviation-type machining constraints, substitution adjustment-type machining constraints, and axis motion boundary constraints. Furthermore, the holding-type machining constraints are used to carry path holding constraints, tool direction holding constraints, and contact force holding constraints; the amplitude limiting deviation-type machining constraints are used to carry tool attitude deviation constraints, attitude continuity constraints, and local attitude smoothing constraints; and the substitution adjustment-type machining constraints are used to carry feed adjustment constraints, redundant joint allocation constraints, and local transition point adjustment constraints. The machining constraint sorting module uses the current machining segment number as an index to extract constraint categories from the machining constraint configuration, assigns different constraint categories to their corresponding machining constraint categories, and reads the machining segment number field, machining constraint name field, constraint category field, constraint target field, allowable deviation range field, corresponding joint axis field, and handling method field. The constraint target and allowable deviation range are bound to the corresponding machining constraint, and the holding method, deviation adjustment method, or substitution adjustment method is written into the machining constraint set of the current machining segment. This ensures that the objects that need to be held, the objects with allowable deviations, and the objects with allowable substitution adjustments in the current machining segment are uniformly sorted into the same machining constraint set.

[0006] The constraint matching module calculates the execution requirements of each machining constraint within the local machining window based on the machining trajectory, tool axis direction, contact force range, tool posture, and axis motion state of each joint axis. It then matches the execution requirements of each machining constraint with the axis motion boundary constraints to obtain the constraint matching results. Furthermore, the constraint matching module compares the joint axis position with the joint axis position boundary to obtain the joint axis position margin, compares the joint axis velocity with the joint axis velocity boundary to obtain the velocity margin, compares the joint axis acceleration with the joint axis acceleration boundary to obtain the acceleration margin, and compares the drive output state with the drive output boundary to obtain the drive output margin. It then organizes the joint axis position margin, velocity margin, acceleration margin, drive output margin, and joint limit distance into the axis motion boundary constraints corresponding to each joint axis. The local machining window is formed by continuous trajectory segments containing the trajectory points corresponding to the current control cycle and located within the current machining segment number. Within this local machining window, the constraint matching module calculates the joint axis target position corresponding to the executed machining trajectory, the joint axis target position combination corresponding to the maintained tool axis direction, the tool feed direction adjustment amount corresponding to the maintained contact force range, and the tool posture adjustment amount corresponding to the maintained tool posture, and uses these as the execution requirements for each machining constraint. This allows the execution requirements of the machining constraints to be compared with the axis motion boundary constraints of each joint axis within the same local machining window. Furthermore, the constraint matching module maps the execution requirements of each machining constraint to the corresponding joint axis based on the robot kinematic relationship corresponding to the surface grinding machining program, obtaining the position occupancy, velocity occupancy, acceleration occupancy, drive output occupancy, or limit distance occupancy of each machining constraint on the corresponding joint axis. Within the same local machining window, for at least two machining constraints mapped to the same joint axis and corresponding to the same boundary type, the constraint matching module superimposes their joint axis occupancy and compares the superimposed joint axis occupancy with the axis motion boundary constraint of the corresponding boundary type of the joint axis. When the superimposed joint axis occupancy exceeds the corresponding axis motion boundary constraint, the constraint matching result indicates that at least two machining constraints cannot be executed simultaneously. This setting allows machining constraint conflicts to be obtained from the occupancy relationship between the execution requirements and the joint axis motion boundary, reducing the situation where only a single error exceeding the limit is relied upon for handling.

[0007] The conflict relationship generation module generates a processing constraint conflict relationship table when the constraint matching result indicates that at least two processing constraints cannot be executed simultaneously. The processing constraint conflict relationship table records the processing constraints that are in conflict, the joint axes involved in the conflict, the conflict relationship between processing constraints, the occupancy relationship of processing constraints on joint axes, and the corresponding handling method of processing constraints. Furthermore, the conflict relationship generation module extracts the processing constraint combinations that cannot be executed simultaneously, the corresponding processing constraints, the joint axes involved in the conflict, and the conflict boundary types from the constraint matching results, and writes them into the conflict relationship field, processing constraint field, and joint axis field of the processing constraint conflict relationship table, respectively; the position occupancy, velocity occupancy, acceleration occupancy, drive output occupancy, or limit distance occupancy corresponding to the processing constraints are written into the joint axis occupancy field; the holding method, deviation adjustment method, or alternative adjustment method corresponding to the conflicting processing constraints are written into the handling method field; this setting enables the conflicting objects, conflict axes, conflict boundaries, and handling basis within the local processing window to form a structured association.

[0008] The constraint arbitration module generates processing constraint arbitration results based on the processing constraint conflict relationship table. The processing constraint arbitration results include the holding results of holding-type processing constraints, the deviation adjustment results of limiting deviation-type processing constraints, and the adjustment actions of alternative adjustment-type processing constraints. Furthermore, the constraint arbitration module reads the conflict relationship field, joint axis field, and joint axis occupancy field from the processing constraint conflict relationship table and sorts the conflict relationships. The sorting is first based on the number of maintenance-type processing constraints from most to least; if the number of maintenance-type processing constraints is the same, it is sorted based on the number of joint axes involved in the conflict from most to least; and if the number of joint axes involved in the conflict is the same, it is sorted based on the joint axis occupancy from highest to lowest. The constraint arbitration module processes each conflict relationship sequentially according to this arbitration order, writes the constraint target corresponding to the maintenance-type processing constraint into the maintenance result, and sets the allowable deviation range corresponding to the amplitude limit deviation-type processing constraint against the current tool posture or... The local attitude smoothing target comparison yields the deviation adjustment result, and the handling method corresponding to the alternative adjustment type machining constraint is converted into at least one adjustment action among local feed rate adjustment, redundant joint allocation, or local transition point rearrangement. After each conflict relationship is arbitrated, the constraint arbitration module writes the corresponding maintenance result, deviation adjustment result, or adjustment action into the machining constraint conflict relationship table, and recalculates the joint axis occupancy in the remaining conflict relationships until all conflict relationships in the machining constraint conflict relationship table are arbitrated. This setting allows multiple conflict relationships to be handled sequentially according to the degree of association of the maintenance type machining constraint, the range of participating joint axes, and the joint axis occupancy.

[0009] The motion reconstruction module reconstructs the multi-axis motion targets within the local machining window based on the machining constraint arbitration results, and generates local multi-axis motion reconstruction instructions. Furthermore, the motion reconstruction module reads the hold results, deviation adjustment results, and adjustment actions from the machining constraint arbitration results, and reconstructs the joint axis target position, joint axis target velocity, tool posture, local feed speed, or local transition point within the local machining window to form a local multi-axis motion reconstruction command. After the local multi-axis motion reconstruction command is generated, the motion reconstruction module returns the corresponding multi-axis motion target to the constraint matching module, which recalculates the constraint matching results within the local machining window. If the recalculated constraint matching results still indicate that at least two machining constraints cannot be executed simultaneously, the motion reconstruction module locks the multi-axis motion target corresponding to the hold-type machining constraints that have been satisfied in the recalculated constraint matching results, and instructs the constraint arbitration module to update the deviation adjustment results of the limit deviation type machining constraints or the adjustment actions of the alternative adjustment type machining constraints. This setting enables the system to continue adjusting the limit deviation type machining constraints or the alternative adjustment type machining constraints while maintaining the satisfied hold-type machining constraints, forming a continuous local multi-axis motion reconstruction process.

[0010] Based on the same inventive concept, the present invention also provides a multi-axis cooperative motion control method for industrial robots, comprising: S1. Obtain the machining trajectory, tool axis direction, contact force range, tool posture, axis motion state of each joint axis, and current machining segment number in the surface grinding machining program, and use the machining trajectory, tool axis direction, contact force range, tool posture, axis motion state of each joint axis, and current machining segment number as input data for machining constraint organization. S2. Read the corresponding machining constraint configuration according to the current machining segment number to obtain the machining constraint set of the current machining segment; the machining constraint set includes maintenance type machining constraints, amplitude limit deviation type machining constraints, substitution adjustment type machining constraints, and axis motion boundary constraints; S3. Based on the machining trajectory, tool axis direction, contact force range, tool posture, and axis motion state of each joint axis, calculate the execution requirements of each machining constraint within the local machining window, and match the execution requirements of each machining constraint with the axis motion boundary constraints to obtain the constraint matching results. S4. When the constraint matching result indicates that at least two processing constraints cannot be executed simultaneously, a processing constraint conflict relationship table is generated. The processing constraint conflict relationship table records the processing constraints that conflict, the joint axes involved in the conflict, the conflict relationship between processing constraints, the occupancy relationship of processing constraints on joint axes, and the corresponding handling method of processing constraints. S5. Generate the processing constraint arbitration result based on the processing constraint conflict relationship table; the processing constraint arbitration result includes the holding result of the holding type processing constraint, the deviation adjustment result of the limiting deviation type processing constraint, and the adjustment action of the alternative adjustment type processing constraint; S6. Based on the arbitration result of the machining constraints, reconstruct the multi-axis motion target within the local machining window and generate a local multi-axis motion reconstruction instruction.

[0011] The technical effects and advantages of this invention are as follows: 1. Unify and organize the current machining section's holding-type machining constraints, amplitude-limiting deviation-type machining constraints, substitution adjustment-type machining constraints, and axis motion boundary constraints, and generate local multi-axis motion reconstruction instructions through constraint matching, conflict relationship table, constraint arbitration, and motion reconstruction, so that constraint conflicts in surface grinding can be transformed into executable multi-axis control results; 2. The axis motion boundary sorting unit forms axis motion boundary constraints based on joint axis position, velocity, acceleration, drive output and limit distance, and defines local machining windows, so that execution requirements are compared according to the same joint axis and the same boundary type, reducing matching deviations caused by mixed judgments of different constraints; 3. The processing constraint conflict relationship table records the processing constraint combinations that cannot be executed simultaneously, the joint axes involved in the conflict, the conflict boundary type, the joint axis occupancy and the handling method, so that the conflict object, axis occupancy source and handling basis can be directly read by the constraint arbitration module; 4. The constraint arbitration module determines the arbitration order based on the number of processing constraints of the holding class, the number of joint axes involved in the conflict, and the joint axis occupancy. After each arbitration, it updates the joint axis occupancy of the remaining conflict relationships, so that multiple conflict relationships can be processed continuously according to the updated occupancy status. 5. The motion reconstruction module generates local multi-axis motion reconstruction instructions based on the holding results, deviation adjustment results, and adjustment actions, and re-matches constraints after reconstruction; if conflicts still exist, it locks the already satisfied holding-type machining constraints to reduce the impact of repeated reconstruction on key machining targets. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the system hierarchy of the present invention; Figure 2 This is an execution flowchart of the data acquisition module, processing constraint organization module, and constraint matching module of the present invention; Figure 3 This is an execution flowchart of the conflict relationship generation module, constraint arbitration module, and motion reconstruction module of the present invention. Detailed Implementation

[0013] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0014] Refer to the instruction manual appendix Figure 1-3 A multi-axis cooperative motion control system for industrial robots, taking a curved surface grinding scenario as an example, specifically illustrates the execution process of the invention, including: Data acquisition module Reference Figure 1 , Figure 2 The data acquisition module obtains the machining trajectory, tool axis direction, contact force range, tool posture, axis motion state of each joint axis, and current machining segment number from the surface grinding machining program and robot controller. It then associates this data according to the current machining segment number and outputs it to the machining constraint processing module. The data acquisition module includes a trajectory reading unit, a tool status reading unit, an axis status reading unit, and a machining segment number reading unit, as detailed below: The trajectory reading unit reads the machining trajectory from the surface grinding program and outputs it to the machining constraint processing module. During execution, the trajectory reading unit first accesses the surface grinding program already loaded in the robot controller and reads the trajectory data describing the motion path of the tool center point from the program. The machining trajectory can be composed of continuous interpolation points, spline curve segments, discrete tool center point coordinates, or trajectory segment data inside the robot controller. When the machining program is stored in the form of discrete trajectory points, the trajectory reading unit reads the spatial coordinates, trajectory point numbers, and connection relationships of adjacent trajectory points according to the program execution order, and organizes them into a machining trajectory arranged in the execution order. When the machining program is stored in the form of spline curve segments, the trajectory reading unit reads the control points, curve segment numbers, and curve execution directions of the spline curve, and generates the corresponding trajectory point sequence according to the robot interpolation cycle. After processing, the trajectory reading unit outputs the machining trajectory and program segment identifier to the machining constraint processing module, so that the subsequent machining constraint processing module can form path-keeping constraints based on the machining trajectory.

[0015] The tool status reading unit reads the tool axis direction, contact force range, and tool posture from the surface grinding program, and outputs these parameters to the machining constraint processing module. During execution, the tool status reading unit reads the process parameters related to the grinding tool in the machining program. The tool axis direction is obtained from the direction of the grinding head center axis, the tool centerline, or the direction of the tool relative to the workpiece surface normal in the tool coordinate system. The tool posture is obtained from the posture data of the tool coordinate system relative to the robot base coordinate system or the workpiece coordinate system, which can be obtained from posture angles, rotation matrices, quaternions, or posture expressions within the robot controller. The contact force range is read from the process parameter table in the surface grinding program. When the process parameter table configures the contact force according to material type, grinding wheel model, machining segment number, or surface area, the tool status reading unit reads the contact force range from the parameter record corresponding to the current program segment. After reading, the tool status reading unit establishes a correspondence between the tool axis direction, contact force range, and tool posture and the trajectory points or trajectory intervals in the machining trajectory, and then outputs them to the machining constraint processing module.

[0016] The axis status reading unit reads the joint axis position, joint axis velocity, joint axis acceleration, drive output status, and joint limit distance for each joint axis, and outputs these data as the axis motion status to the machining constraint processing module. During execution, the axis status reading unit reads real-time feedback data for each joint axis from the robot controller or servo driver. The joint axis position is read from the encoder feedback position or the controller joint coordinates; the joint axis velocity is read from the servo driver feedback velocity, or from the difference in joint axis position between adjacent control cycles divided by... The control cycle duration is calculated; the joint axis acceleration is calculated by dividing the joint axis velocity difference between adjacent control cycles by the control cycle duration, or by reading interpolated data from the controller; the drive output status is represented by the current, torque, output percentage, or load rate fed back by the servo driver; the joint limit distance is calculated by the distance between the current joint axis position and the corresponding forward and reverse position limits of the joint axis, and the limit distance on the corresponding side is selected according to the current joint axis movement direction; the axis status reading unit packages the above data into the axis movement status of each joint axis according to the joint axis number and outputs it to the machining constraint processing module.

[0017] The processing segment number reading unit identifies at least one of the following processing trajectory intervals in the surface grinding program: curvature change position, workpiece edge position, concave avoidance position, and tool retraction position. It then outputs the corresponding number of the processing trajectory interval as the current processing segment number to the processing constraint processing module. During execution, the processing segment number reading unit first reads the trajectory segment markers in the surface grinding program. If the program has already configured segment numbers for smooth surface segments, curvature change segments, edge transition segments, concave avoidance segments, or tool retraction segments, it directly reads the segment number to which the trajectory point in the current control cycle belongs. If the program has not directly configured segment numbers for these segments, it directly reads the segment number to which the current control cycle's corresponding trajectory point belongs. Upon receiving the configuration segment number, the machining segment number reading unit calculates the curvature change position based on the directional changes of adjacent trajectory points in the machining trajectory, identifies the workpiece edge position based on the workpiece model boundary or the machining trajectory termination boundary, identifies the concave avoidance position based on avoidance commands, tool posture change intervals, or trajectory detour intervals, and identifies the tool retraction position based on tool retraction commands, tool lifting actions, or the end of the machining trajectory. After identification, the machining segment number reading unit determines the continuous machining trajectory interval containing the trajectory points corresponding to the current control cycle as the current machining segment, and outputs the number corresponding to this machining trajectory interval as the current machining segment number to the machining constraint processing module.

[0018] The data acquisition module generates machining trajectory, tool status, and joint axis status data corresponding to the current machining segment number, enabling the machining constraint processing module to read data and generate a set of machining constraints under the same machining segment caliber, providing a consistent data foundation for subsequent constraint matching and conflict relationship generation.

[0019] Processing constraint sorting module Reference Figure 1 , Figure 2 The machining constraint processing module receives the current machining segment number, machining trajectory, tool axis direction, contact force range, tool posture, and axis motion state of each joint axis from the data acquisition module. Using the current machining segment number as an index, it reads the corresponding machining constraint configuration and organizes the objects within the machining segment that need to be maintained, allowed deviations, allowed adjustments, and are restricted by the joint axis execution capabilities into a machining constraint set for the current machining segment. The machining constraint processing module includes a constraint category reading unit, a machining constraint classification unit, an axis motion boundary processing unit, a configuration field parsing unit, a constraint target extraction unit, and a handling method binding unit, as detailed below: The constraint category reading unit reads the corresponding machining constraint configuration using the current machining segment number as an index, extracts the constraint category from the machining constraint configuration, and forms a constraint category set corresponding to the current machining segment. During execution, the constraint category reading unit receives the current machining segment number and retrieves the machining constraint configuration matching the machining segment number from the process parameter table corresponding to the surface grinding machining program, the machining segment configuration table within the robot controller, or the process database connected to the controller. Each machining constraint configuration corresponds to one machining constraint within the current machining segment, and the configuration must contain at least the machining constraint name and constraint category. The constraint category reading unit reads the constraint category field line by line, and sets the path... Constraint categories such as path holding constraint, tool orientation holding constraint, contact force holding constraint, tool posture deviation constraint, posture continuity constraint, local posture smoothing constraint, feed adjustment constraint, redundant joint allocation constraint, local transition point adjustment constraint, or axis motion boundary constraint are summarized in the configuration record order to form the constraint category set corresponding to the current machining segment. For example, when the current machining segment number corresponds to an edge transition segment, the machining constraint configuration usually includes path holding constraint, contact force holding constraint, tool posture deviation constraint, and feed adjustment constraint. The constraint category reading unit extracts the above categories to form the constraint category set of the machining segment and outputs it to the machining constraint classification unit.

[0020] The machining constraint classification unit categorizes path-keeping constraints, tool orientation-keeping constraints, and contact force-keeping constraints from the constraint category set into the "keeping" category of machining constraints; tool posture deviation constraints, posture continuity constraints, and local posture smoothing constraints into the "limiting deviation" category of machining constraints; and feed adjustment constraints, redundant joint allocation constraints, and local transition point adjustment constraints into the "alternative adjustment" category of machining constraints. During execution, the machining constraint classification unit reads each constraint category from the constraint category set and performs classification according to the correspondence between the constraint categories and the machining constraint categories. Path-keeping constraints correspond to the requirement that the tool center point moves along the machining trajectory; tool orientation-keeping constraints correspond to the matching requirements between the grinding tool axis direction and the target direction; and contact force-keeping constraints correspond to the contact force requirements of the grinding tool acting on the workpiece surface. The constraints described above are written into the holding category of machining constraints; the tool posture deviation constraint, posture continuity constraint, and local posture smoothness constraint correspond to the allowable deviation of tool posture, the continuity of posture change, and the smoothness of local posture change, respectively, and these constraints are written into the amplitude limit deviation category of machining constraints; the feed adjustment constraint, redundant joint allocation constraint, and local transition point adjustment constraint correspond to the local feed speed, the redundant joint bearing relationship, and the trajectory transition point adjustment object, respectively, and these constraints are written into the alternative adjustment category of machining constraints; for example, in the concave avoidance section, the tool direction holding constraint is classified into the holding category of machining constraints, the posture continuity constraint is classified into the amplitude limit deviation category of machining constraints, and the redundant joint allocation constraint is classified into the alternative adjustment category of machining constraints, so that the subsequent constraint matching module can distinguish the machining objects that need to be held, allow deviation, and allow adjustment.

[0021] The axis motion boundary consolidation unit reads the axis motion state of each joint axis and calls the formation results of the axis motion boundary constraints. It then merges the maintenance-type machining constraints, amplitude-limiting deviation-type machining constraints, substitution adjustment-type machining constraints, and axis motion boundary constraints into the machining constraint set for the current machining segment. During execution, the axis motion boundary consolidation unit reads the axis motion state of each joint axis, including joint axis position, joint axis velocity, joint axis acceleration, drive output state, and joint limit distance. The unit calls the axis motion boundary constraints obtained from the axis margin calculation and boundary constraint formation process. These constraints record the executable boundaries of each joint axis in terms of position, velocity, acceleration, drive output, and limit distance. During the merging process, the axis motion... The boundary simplification unit uses the current processing segment number as the associated field to write the maintenance-type processing constraints, amplitude-limiting deviation-type processing constraints, alternative adjustment-type processing constraints, and axis motion boundary constraints into the same processing constraint set of the current processing segment. Each processing constraint retains the relationship between the processing constraint name, constraint category, corresponding joint axis, and subsequent handling method. The axis motion boundary constraints retain the corresponding joint axis and its boundary type. For example, if the joint limit distance of the fifth joint axis in the current concave avoidance segment is small, the axis motion boundary simplification unit merges the axis motion boundary constraint of the fifth joint axis with the tool posture deviation constraint and redundant joint allocation constraint in the current processing segment, so that the occupancy relationship of these processing constraints on the limit distance of the fifth joint axis can be identified during subsequent constraint matching.

[0022] The configuration field parsing unit reads the processing segment number field, processing constraint name field, constraint category field, constraint target field, allowable deviation range field, corresponding joint axis field, and handling method field from the processing constraint configuration corresponding to the current processing segment number, forming a set of processing constraint configuration fields for the current processing segment. During execution, the configuration field parsing unit locates the processing constraint configuration using the current processing segment number and reads the configuration records under that processing segment one by one. The processing segment number field confirms that the configuration record belongs to the current processing segment; the processing constraint name field distinguishes specific processing constraints; the constraint category field is used for classification by the processing constraint classification unit; and the constraint target field records the target trajectory, target direction, contact force target, attitude target, or other parameters corresponding to the processing constraint. The adjustment target and allowable deviation range fields are used to record the acceptable deviation boundaries of the amplitude-limiting deviation type machining constraint. The corresponding joint axis field is used to record the joint axis that the machining constraint mainly affects or occupies. The handling method field is used to record the maintenance method, deviation adjustment method, or alternative adjustment method called when generating subsequent conflict relationships and arbitrating constraints. The configuration field parsing unit associates fields belonging to the same machining constraint name into a configuration record and summarizes all configuration records under the current machining segment into a machining constraint configuration field set. For example, the tool posture deviation constraint record in the edge chamfering segment has the tool posture target, allowable deviation range, and corresponding wrist joint. After reading these fields, the configuration field parsing unit uses them as the complete configuration record of the tool posture deviation constraint.

[0023] The constraint target extraction unit extracts the constraint targets and allowable deviation ranges corresponding to each machining constraint from the machining constraint configuration field set, and binds the constraint targets and allowable deviation ranges to the corresponding holding-type machining constraints, amplitude-limiting deviation-type machining constraints, or alternative adjustment-type machining constraints. During execution, the constraint target extraction unit reads the constraint target field item by item according to the machining constraint name field and writes the constraint targets into the corresponding machining constraints. For holding-type machining constraints, the constraint target extraction unit writes the tool center point position in the machining trajectory into the path holding constraint, the tool axis direction into the tool direction holding constraint, and the contact force given range into the contact force holding constraint. For amplitude-limiting deviation-type machining constraints, the constraint target extraction unit reads the tool posture. The constraint target extraction unit extracts the target, attitude continuity target, or local attitude smoothing target, and simultaneously reads the allowable deviation range, binding both to the corresponding amplitude limit deviation type machining constraint. For alternative adjustment type machining constraints, the constraint target extraction unit writes the local feed rate adjustment target, redundant joint allocation target, or local transition point adjustment target into the corresponding alternative adjustment type machining constraint. If the allowable deviation range field is not set in a certain machining constraint configuration, the constraint target extraction unit only binds the constraint target and does not generate the allowable deviation range of that machining constraint. For example, the contact force holding constraint binds the contact force given range as the constraint target, the attitude continuity constraint binds the attitude continuity target and its allowable deviation range, and the local transition point adjustment constraint binds the adjustable transition point target.

[0024] The handling method binding unit determines the holding method, deviation adjustment method, or alternative adjustment method corresponding to each processing constraint from the handling method field, and writes the holding method, deviation adjustment method, or alternative adjustment method into the processing constraint set of the current processing segment. During execution, the handling method binding unit reads the handling method field from the processing constraint configuration field set and determines the writing position of the handling method according to the processing constraint category. When the processing constraint belongs to the holding type, the handling method binding unit writes the holding method, which is used by the subsequent constraint arbitration module to generate the holding result. When the processing constraint belongs to the amplitude limiting deviation type, the handling method binding unit writes the deviation adjustment method, which is used by the subsequent tool attitude adjustment method. The attitude continuity or local attitude smoothing target is adjusted to within the allowable deviation range; when the machining constraint belongs to the alternative adjustment type of machining constraint, the disposal method binding unit writes the alternative adjustment method, which corresponds to at least one of local feed rate adjustment, redundant joint allocation, or local transition point rearrangement; after writing, each machining constraint in the machining constraint set of the current machining segment has a corresponding constraint category, constraint target, corresponding joint axis, and disposal method; for example, in the tool termination segment, the path holding constraint is written as the holding method, the tool attitude deviation constraint is written as the deviation adjustment method, and the local transition point adjustment constraint is written as the alternative adjustment method. The subsequent conflict relationship generation module can then write the corresponding disposal method into the machining constraint conflict relationship table.

[0025] The machining constraint organization module forms a set of machining constraints for the current machining segment and establishes a correspondence between machining constraint categories, constraint targets, allowable deviation ranges, corresponding joint axes, and handling methods within this set. This set of machining constraints provides a unified data standard for the constraint matching module to calculate and execute requirements, enabling path maintenance, tool direction maintenance, contact force maintenance, attitude deviation, feed adjustment, redundant joint allocation, local transition point adjustment, and axis motion boundaries to be invoked and compared within the same current machining segment. This provides a clear data foundation for the subsequent generation of the machining constraint conflict relationship table.

[0026] When the constraint matching module starts execution, the system needs to first determine the range of motion that each joint axis can still bear within the current control cycle. In the curvature change segment, edge transition segment, or concave avoidance segment of surface grinding, tool posture adjustment, tool axis direction maintenance, and contact force adjustment may simultaneously occupy the position, velocity, acceleration, drive output, or limit distance of the same joint axis. If a unified axis motion boundary constraint is not formed first, it is difficult to make a comparable comparison between subsequent execution requirements and joint axis execution capabilities. To this end, the present invention provides a further solution, wherein the axis motion boundary adjustment unit includes an axis margin calculation unit, a boundary constraint formation unit, and a local window division unit, as follows: The axis margin calculation unit reads the joint axis position, joint axis velocity, joint axis acceleration, drive output status, and joint limit distance for each joint axis. It then compares the joint axis position with its boundary to obtain the joint axis position margin, the joint axis velocity with its boundary to obtain the velocity margin, the joint axis acceleration with its boundary to obtain the acceleration margin, and the drive output status with its boundary to obtain the drive output margin. During execution, the axis margin calculation unit reads data from the robot controller and servo drivers according to the joint axis number. The joint axis position uses encoder feedback position or controller joint coordinates; the joint axis velocity uses servo driver feedback velocity, or is obtained by dividing the difference in joint axis position between two adjacent control cycles by the control cycle duration; the joint axis acceleration is obtained by dividing the difference in joint axis velocity between two adjacent control cycles by the control cycle duration; the drive output status is represented by current, torque, output percentage, or load rate fed back by the servo driver. The joint axis position boundary uses the positive and negative position limits of the joint axis recorded in the robot controller. The axis margin calculation unit selects the position boundary on the corresponding side according to the current joint axis movement direction, and uses the difference between the position boundary and the current joint axis position as the joint axis position margin. The velocity margin is obtained by comparing the joint axis velocity boundary with the current joint axis velocity, the acceleration margin is obtained by comparing the joint axis acceleration boundary with the current joint axis acceleration, and the drive output margin is obtained by comparing the drive output boundary with the current drive output state. The joint limit distance is determined by the distance between the current joint axis position and the position limit corresponding to the current movement direction. For example, when the robot is grinding a concave curved surface, the fifth joint axis rotates in the positive limit direction. The axis margin calculation unit subtracts the current joint axis position from the positive position limit of the fifth joint axis to obtain the joint axis position margin, and simultaneously calculates the velocity margin, acceleration margin, drive output margin, and joint limit distance of the fifth joint axis as input to the boundary constraint forming unit.

[0027] The boundary constraint forming unit organizes the joint axis position margin, velocity margin, acceleration margin, drive output margin, and joint limit distance into axis motion boundary constraints corresponding to each joint axis. During execution, the boundary constraint forming unit establishes axis motion boundary constraint records according to the joint axis number, and sets the position boundary type, velocity boundary type, acceleration boundary type, drive output boundary type, and limit distance boundary type in each record. The position boundary type is written with the joint axis position margin, the velocity boundary type with the velocity margin, the acceleration boundary type with the acceleration margin, the drive output boundary type with the drive output margin, and the limit distance boundary type with the joint limit distance. Each boundary type retains its own numerical source and measurement caliber. The position occupancy, velocity occupancy, acceleration occupancy, drive output occupancy, and limit distance occupancy output by the subsequent joint axis occupancy calculation unit are compared with the corresponding boundary type. For example, if the second joint axis has sufficient position margin but small velocity margin in the current control cycle, the boundary constraint forming unit records the position boundary type and velocity boundary type of the second joint axis respectively. During subsequent conflict determination, the velocity occupancy is compared with the velocity margin corresponding to the velocity boundary type, and the position occupancy is compared with the joint axis position margin corresponding to the position boundary type, thereby retaining the judgment caliber of different boundary types.

[0028] The local window segmentation unit extracts a continuous trajectory segment along the machining trajectory that contains the trajectory point corresponding to the current control cycle and is located within the current machining segment number. This continuous trajectory segment is then associated with the current machining segment number to form a local machining window. During execution, the local window segmentation unit reads the interpolation point number or trajectory point number currently being executed by the robot controller and identifies this trajectory point as the trajectory point corresponding to the current control cycle. Subsequently, within the machining trajectory interval corresponding to the current machining segment number, adjacent trajectory points are selected forward and backward along the execution direction of the machining trajectory to form a continuous trajectory segment containing the trajectory point corresponding to the current control cycle. The starting point of the continuous trajectory segment... Both the point and the endpoint are located within the processing trajectory interval corresponding to the current processing segment number. When the trajectory point corresponding to the current control cycle is close to the start or end point of the current processing segment, the boundary of the current processing segment is used as the boundary of the continuous trajectory segment. The local window partitioning unit binds the trajectory point sequence of the continuous trajectory segment, the current processing segment number, and the current control cycle identifier to form a local processing window. For example, when the robot performs grinding in the edge transition segment, the local window partitioning unit only extracts the continuous trajectory segment containing the current interpolation point in the edge transition segment, so that the subsequent execution requirement calculation, joint axis occupancy calculation, and conflict determination are all completed under the same current processing segment number.

[0029] The axis motion boundary sorting unit sorts the real-time running data of each joint axis into five categories of axis motion boundary constraints: position, velocity, acceleration, drive output, and limit distance. It also limits the constraint matching range to the local machining window within the current machining segment number. This process enables the subsequent constraint matching module to compare the execution requirements of machining constraints with the axis motion boundary constraints according to the same joint axis and the same boundary type, thereby improving the data consistency and traceability of machining constraint conflict determination.

[0030] Constraint Matching Module Reference Figure 1 , Figure 2 After obtaining the local machining window and axis motion boundary constraints, the constraint matching module further converts the machining trajectory, tool axis direction, contact force range, and tool posture within the current machining segment into execution requirements corresponding to each machining constraint, and further converts them into the occupancy of each joint axis. In surface grinding, path preservation, tool direction preservation, contact force preservation, and posture adjustment within the same local machining window may simultaneously act on the same joint axis. Therefore, it is necessary to uniformly map the execution requirements of different machining constraints to the joint axis level and then compare them with the axis motion boundary constraints using the same caliber. The constraint matching module includes an execution requirement calculation unit, a joint axis occupancy calculation unit, and a conflict determination unit, as detailed below: The execution requirement calculation unit reads the machining trajectory, tool axis direction, contact force range, and tool posture within the local machining window. It calculates the target joint axis positions corresponding to each machining constraint, the combination of target joint axis positions used to maintain the tool axis direction, and the tool feed direction adjustment or tool posture adjustment, thus forming the execution requirements for each machining constraint. During execution, it first reads the trajectory point sequence, tool axis direction, contact force range, and tool posture from the local machining window, and then generates execution requirements item by item according to the machining constraint set of the current machining segment. For path-keeping constraints, the execution requirement calculation unit inputs the tool center point trajectory points within the local machining window into the robot's inverse kinematics calculation to obtain the target joint axis positions required to execute the machining trajectory. For tool orientation-keeping constraints, the execution requirement calculation unit uses the target tool axis direction as a constraint condition and, based on satisfying the tool center point position, calculates the combination of target joint axis positions used to maintain the tool axis direction. For contact force-keeping constraints, the execution requirement calculation... The unit reads the contact state in the current tool action direction or the corresponding contact force feedback value in the controller, compares the contact force feedback value with the given contact force range, and generates an increase in tool feed direction adjustment along the tool feed direction when the contact force feedback value is lower than the lower limit of the given contact force range. When the contact force feedback value is higher than the upper limit of the given contact force range, it generates an increase in tool feed direction adjustment along the opposite direction of tool feed. When the contact force feedback value is within the given contact force range, the tool feed direction adjustment is recorded as zero. For tool posture deviation constraints, posture continuity constraints, or local posture smoothing constraints, the execution requirement calculation unit compares the current tool posture with the corresponding constraint target to obtain the tool posture adjustment amount. For example, in the edge transition section, the tool direction maintenance constraint requires the grinding head axis to change with the edge surface normal. While keeping the tool center point running along the machining trajectory, the execution requirement calculation unit calculates the joint axis target position combination that makes the tool axis direction meet the target direction, and uses it as the execution requirement of the machining constraint.

[0031] The joint axis occupancy calculation unit, based on the robot kinematics relationship corresponding to the surface grinding machining program, maps the execution requirements of each machining constraint to the corresponding joint axis, and calculates the position occupancy, velocity occupancy, acceleration occupancy, drive output occupancy, or limit distance occupancy of each machining constraint on the corresponding joint axis. During execution, the joint axis occupancy calculation unit calls the robot kinematics relationship used in the robot controller for trajectory interpolation and inverse kinematics solution, and converts the joint axis target position, joint axis target position combination, tool feed direction adjustment, and tool posture adjustment obtained by the execution requirement calculation unit into the target motion change of each joint axis within the local machining window. The position occupancy is determined by the difference between the joint axis target position generated by the corresponding machining constraint and the current joint axis position. The velocity occupancy is obtained by dividing the change in joint axis target position in adjacent control cycles within the local machining window by the control cycle duration. The acceleration occupancy... The occupancy is obtained by dividing the speed change of adjacent control cycles by the control cycle duration; the drive output occupancy is calculated by the robot controller based on the joint axis target motion change, grinding load, and servo drive model, or estimated by the load change fed back by the driver; the limit distance occupancy is determined by the change in the joint axis target position toward the corresponding limit direction; the joint axis occupancy calculation unit records the above occupancy according to the machining constraint name, joint axis number, and boundary type, so that each execution requirement can be mapped to the position boundary, velocity boundary, acceleration boundary, drive output boundary, or limit distance boundary; for example, when both the tool posture adjustment amount and the tool axis direction holding requirement are mapped to the fifth joint axis, the joint axis occupancy calculation unit calculates the occupancy of the two machining constraints on the fifth joint axis velocity boundary and limit distance boundary respectively, and retains the machining constraint names of the two for the conflict determination unit to superimpose and compare.

[0032] The conflict determination unit, within the same local machining window, superimposes the joint axis occupancy of at least two machining constraints mapped to the same joint axis and corresponding to the same boundary type, and compares the superimposed joint axis occupancy with the axis motion boundary constraint of the corresponding boundary type of the joint axis. When the superimposed joint axis occupancy exceeds the axis motion boundary constraint of the corresponding boundary type of the joint axis, it determines that at least two machining constraints cannot be executed simultaneously and generates a constraint matching result. During execution, the conflict determination unit first groups the joint axis occupancy according to the local machining window number, joint axis number, and boundary type, and only performs superposition on the joint axis occupancy within the same group. The position occupancy is only compared with the axis motion boundary constraint corresponding to the position boundary type of the joint axis, the velocity occupancy is only compared with the axis motion boundary constraint corresponding to the velocity boundary type, and the acceleration occupancy is only compared with the axis motion boundary constraint corresponding to the acceleration boundary type. The drive output occupancy... The quantity is compared only with the axis motion boundary constraint corresponding to the drive output boundary type, and the limit distance occupancy is compared only with the axis motion boundary constraint corresponding to the limit distance boundary type. When the superimposed joint axis occupancy does not exceed the corresponding axis motion boundary constraint, the conflict determination unit records in the constraint matching result that the corresponding machining constraint combination can be executed simultaneously. When the superimposed joint axis occupancy exceeds the corresponding axis motion boundary constraint, the conflict determination unit records in the constraint matching result the machining constraint combination that cannot be executed simultaneously, the joint axis involved in the conflict, the conflict boundary type, and the corresponding occupancy. For example, if the path holding constraint and the tool posture deviation constraint are both mapped to the velocity boundary of the fifth joint axis, and the superimposed velocity occupancy of the two exceeds the velocity margin of the fifth joint axis, the conflict determination unit determines that the two machining constraints cannot be executed simultaneously, and records the fifth joint axis, the velocity boundary type, and the corresponding machining constraint combination in the constraint matching result.

[0033] The constraint matching module converts the execution requirements of each machining constraint within the current machining segment into the occupancy at the joint axis level, and compares them with axis motion boundary constraints according to the same local machining window, the same joint axis, and the same boundary type. The constraint matching results obtained can clearly record the machining constraint combinations that can be executed simultaneously and the machining constraint combinations that cannot be executed simultaneously, providing a calculable and traceable basis for the conflict relationship generation module to extract conflict objects, joint axis occupancy relationships, and handling methods.

[0034] Conflict Relationship Generation Module Reference Figure 1 , Figure 3After receiving the constraint matching results from the constraint matching module, the conflict relationship generation module organizes the processing constraint combinations that cannot be executed simultaneously and generates a processing constraint conflict relationship table. During this process, the processing constraint conflict relationship table needs to simultaneously record the conflicting processing constraints, the joint axes involved in the conflict, the conflict relationships between processing constraints, the occupancy relationships of processing constraints on joint axes, and the corresponding handling methods for the processing constraints. This allows the subsequent constraint arbitration module to read the conflicting objects, conflict boundaries, and handling criteria from the same relationship table. The conflict relationship generation module includes a conflicting object extraction unit, an occupancy relationship writing unit, and a handling method association unit, as detailed below: The conflict object extraction unit reads the processing constraint combinations that cannot be executed simultaneously from the constraint matching results, extracts the corresponding processing constraints, the joint axes involved in the conflict, and the conflict boundary type, writes the processing constraint combinations that cannot be executed simultaneously into the conflict relationship field of the processing constraint conflict relationship table, writes the corresponding processing constraints into the processing constraint field, and writes the joint axes involved in the conflict into the joint axis field; during execution, the conflict object extraction unit first reads the local processing window number, the current processing segment number, the processing constraint combinations that cannot be executed simultaneously, the joint axis numbers involved in the conflict, and the conflict boundary type from the constraint matching results; the processing constraint combinations that cannot be executed simultaneously are generated by the conflict determination unit within the same local processing window according to the occupancy comparison results of the same joint axis and the same boundary type; the conflict object extraction unit uses... The local processing window number and the current processing segment number serve as the location information for the processing constraint conflict relationship table. Processing constraints that cannot be executed simultaneously are completely written into the conflict relationship field. Then, the name or number of each processing constraint in the combination is written into the processing constraint field. The joint axis number involved in the conflict is written into the joint axis field, and the conflict boundary type is saved along with the conflict relationship field. For example, in the concave avoidance segment, both the tool orientation holding constraint and the tool posture deviation constraint are mapped to the velocity boundary of the fifth joint axis. The combined velocity occupancy of both exceeds the velocity margin of the fifth joint axis. The conflict object extraction unit writes "tool orientation holding constraint + tool posture deviation constraint" into the conflict relationship field, writes the fifth joint axis into the joint axis field, and uses the velocity boundary type as the boundary source for this conflict relationship.

[0035] The occupancy relationship writing unit reads the joint axis occupancy corresponding to each machining constraint and writes the position occupancy, velocity occupancy, acceleration occupancy, drive output occupancy, or limit distance occupancy into the joint axis occupancy field of the machining constraint conflict relationship table. During execution, the occupancy relationship writing unit uses the machining constraint combination in the conflict relationship field as an index to read the joint axis occupancy corresponding to each machining constraint within that combination from the constraint matching results or the output of the joint axis occupancy calculation unit. During reading, it matches item by item according to the machining constraint name, joint axis number, and boundary type. The position occupancy is written into the position occupancy subfield, the velocity occupancy into the velocity occupancy subfield, the acceleration occupancy into the acceleration occupancy subfield, and the drive output occupancy into the drive output occupancy subfield. The limit distance occupancy subfield is written to the limit distance occupancy subfield. If the same conflict relationship involves only one boundary type, the occupancy relationship writing unit writes the occupancy corresponding to that boundary type and retains the field status of other boundary types. If the same processing constraint involves multiple boundary types at the same time, the occupancy relationship writing unit writes them separately according to different boundary types to avoid the subsequent constraint arbitration module mixing the occupancy of different boundary types. For example, when the path holding constraint and the contact force holding constraint both involve the drive output boundary of the second joint axis, the occupancy relationship writing unit reads the drive output occupancy corresponding to the two constraints and writes it into the drive output occupancy subfield of the record corresponding to the second joint axis, so that the subsequent conflict order determination unit can read the joint axis occupancy.

[0036] The handling method association unit reads the holding method, deviation adjustment method, or alternative adjustment method corresponding to the conflicting processing constraints from the processing constraint set of the current processing segment, and writes the holding method, deviation adjustment method, or alternative adjustment method into the handling method field of the processing constraint conflict relationship table. During execution, the handling method association unit uses the processing constraint name or number in the processing constraint field as the search object to find the corresponding handling method in the processing constraint set of the current processing segment. When the conflicting processing constraint belongs to the holding type, the handling method association unit reads the holding method and writes it into the handling method field; when the conflicting processing constraint belongs to the amplitude limiting deviation type, the handling method association unit reads the deviation adjustment method and writes it into the handling method field. The disposal method field is used to determine the handling method. When a conflicting processing constraint is a substitute adjustment type processing constraint, the disposal method association unit reads the substitute adjustment method and writes it into the disposal method field. When multiple processing constraints are included in the same conflict relationship, the disposal method association unit writes the disposal method corresponding to each processing constraint and maintains the association through the same conflict relationship field. For example, in the tool retraction segment, the path holding constraint corresponds to the holding method, the tool posture deviation constraint corresponds to the deviation adjustment method, and the local transition point adjustment constraint corresponds to the substitute adjustment method. The disposal method association unit writes the above disposal methods into the same processing constraint conflict relationship table, so that the constraint arbitration module can simultaneously obtain the holding result, deviation adjustment result, or the basis for generating the adjustment action when reading the conflict relationship.

[0037] The conflict relationship generation module organizes the processing constraints that cannot be executed simultaneously in the constraint matching results into a processing constraint conflict relationship table. It establishes a correspondence between conflict relationships, processing constraints, joint axes involved in the conflict, joint axis occupancy, and handling methods in the table. This processing constraint conflict relationship table provides a unified data entry point for the constraint arbitration module, enabling subsequent arbitration to directly read the conflict object, conflict boundary, occupancy status, and handling basis, reducing data lookup and definition conversion during the conflict handling process, and providing a clear record chain for the processing constraint conflict handling process.

[0038] Constraint Arbitration Module Reference Figure 1 , Figure 3After receiving the processing constraint conflict relationship table generated by the conflict relationship generation module, the constraint arbitration module needs to convert the conflict relationships within the same local processing window into processing constraint arbitration results that can be executed by the motion reconstruction module. During surface grinding, multiple conflict relationships may occur simultaneously. For example, path holding constraints and tool posture deviation constraints may compete for the velocity boundary of the same joint axis, and contact force holding constraints and feed adjustment constraints may compete for the drive output boundary of the same joint axis. Therefore, the constraint arbitration module first determines the processing order of each conflict relationship, then generates holding results, deviation adjustment results, or adjustment actions respectively, and updates the processing constraint conflict relationship table after each arbitration. The constraint arbitration module includes a conflict order determination unit, a hierarchical arbitration unit, and a conflict relationship update unit, as detailed below: The conflict order determination unit reads the conflict relationship field, joint axis field, and joint axis occupancy field from the processing constraint conflict relationship table, and arranges the conflict relationships in order of the number of maintenance-type processing constraints from most to least. When the number of maintenance-type processing constraints is the same, it arranges them in order of the number of joint axes involved in the conflict from most to least. When the number of joint axes involved in the conflict is the same, it arranges them in order of the joint axis occupancy from highest to lowest, thus obtaining the arbitration order for each conflict relationship. During execution, the conflict order determination unit reads each record in the processing constraint conflict relationship table, with each record corresponding to a processing constraint combination that cannot be executed simultaneously. The conflict order determination unit first counts the number of maintenance-type processing constraints in the conflict relationship based on the processing constraint field and the processing constraint set of the current processing segment, and uses the number of maintenance-type processing constraints as the first sorting condition. For conflict relationships with the same number of maintenance-type processing constraints, it then counts the number of joint axes involved in the conflict in the joint axis field, and sorts them in order of the number of joint axes involved. The number of conflicting joint axes is used as the second sorting criterion. If the first two quantities are the same, the position occupancy, velocity occupancy, acceleration occupancy, drive output occupancy, or limit distance occupancy in the joint axis occupancy field are read and sorted from high to low according to the joint axis occupancy under the corresponding conflict boundary type. When a conflict relationship involves multiple joint axis occupancy, the conflict order determination unit selects the joint axis occupancy with the highest occupancy ratio relative to the corresponding axis motion boundary constraint in the conflict relationship for sorting. For example, in the edge transition section, the first conflict relationship involves path holding constraint and tool posture deviation constraint, and the second conflict relationship involves contact force holding constraint, feed adjustment constraint, and redundant joint allocation constraint. The conflict order determination unit first compares the number of holding-type machining constraints in the two conflict relationships, then compares the number of joint axes involved in the conflict, and determines the order according to the joint axis occupancy when the numbers are the same, thereby obtaining the arbitration order of each conflict relationship in the current local machining window.

[0039] The hierarchical arbitration unit processes each conflict relationship sequentially according to the arbitration order. When processing the current conflict relationship, it writes the constraint target corresponding to the maintenance type processing constraint into the maintenance result, compares the allowable deviation range corresponding to the amplitude limit deviation type processing constraint with the current tool posture or local posture smoothing target to obtain the deviation adjustment result, and converts the handling method corresponding to the alternative adjustment type processing constraint into at least one of the following adjustment actions: local feed rate adjustment, redundant joint allocation, or local transition point rearrangement. During execution, the hierarchical arbitration unit first reads the processing constraint field and handling method field in the current conflict relationship, and determines the category of each processing constraint according to the processing constraint set of the current processing segment. For the maintenance type processing constraint, the hierarchical arbitration unit reads its constraint target field, writes the path maintenance target, tool direction maintenance target, or contact force maintenance target into the maintenance result, and marks the maintenance result as the target that the motion reconstruction module needs to retain first. For the amplitude limit deviation type processing constraint, the hierarchical arbitration unit reads the allowable deviation range field and compares the allowable deviation range with the current tool posture or local posture. For smoothing target comparison, when the smoothing target of the current tool posture or local posture exceeds the allowable deviation range, the deviation adjustment result is generated according to the boundary value of the allowable deviation range. When it is within the allowable deviation range, the smoothing target of the current tool posture or local posture is used as the deviation adjustment result. For alternative adjustment type machining constraints, the hierarchical arbitration unit reads the handling method field, converts the feed adjustment method into local feed speed adjustment, converts the redundant joint allocation method into the redundant joint undertaking relationship participating in the reconstruction, and converts the local transition point adjustment method into local transition point rearrangement. For example, in the concave avoidance section, when the tool direction holding constraint and the posture continuity constraint simultaneously occupy the velocity boundary of the fifth joint axis, the hierarchical arbitration unit writes the tool axis direction corresponding to the tool direction holding constraint into the holding result, and then adjusts the current tool posture change of the posture continuity constraint to the allowable deviation range. If the same conflict relationship also includes redundant joint allocation constraints, the hierarchical arbitration unit converts the handling method corresponding to the constraint into an adjustment action in which the fourth joint axis and the sixth joint axis jointly undertake part of the posture change.

[0040] The conflict relationship update unit writes the hold result, deviation adjustment result, or adjustment action corresponding to the current conflict relationship into the machining constraint conflict relationship table, recalculates the joint axis occupancy in the remaining conflict relationships, and outputs the updated machining constraint conflict relationship table to the hierarchical arbitration unit until all conflict relationships in the machining constraint conflict relationship table have been arbitrated. During execution, after the hierarchical arbitration unit completes the processing of the current conflict relationship, the conflict relationship update unit writes the hold result into the hold result field of the record corresponding to the conflict relationship, writes the deviation adjustment result into the deviation adjustment result field, writes the adjustment action into the adjustment action field, and updates the execution status field of the conflict relationship to arbitrated. Subsequently, the conflict relationship update unit recalculates the joint axis occupancy field according to the deviation adjustment result or adjustment action. For example, after the tool posture deviation is adjusted to within the allowable deviation range, the speed occupancy of the corresponding joint axis is recalculated according to the adjusted tool posture target. After the local feed rate is adjusted, the speed occupancy and drive output occupancy of the corresponding joint axis are recalculated according to the adjusted local feed rate. After the redundant joint allocation changes, the occupancy of each participating joint axis is redistributed according to the new assignment relationship. The conflict relationship update unit writes the recalculated joint axis occupancy back to the machining constraint conflict relationship table and outputs the updated machining constraint conflict relationship table to the hierarchical arbitration unit. The hierarchical arbitration unit continues to process the remaining unarbitrated conflict relationships. For example, in the curvature change segment, the conflict between the tool direction holding constraint and the tool posture deviation constraint caused the speed occupancy of the fifth joint axis to decrease. After the conflict relationship update unit recalculates, it finds that the occupancy of the remaining conflict relationships related to the fifth joint axis changes synchronously. The subsequent hierarchical arbitration unit continues to process according to the updated machining constraint conflict relationship table until all conflict relationships have corresponding holding results, deviation adjustment results, or adjustment actions.

[0041] The constraint arbitration module determines the processing order of multiple conflict relationships in the processing constraint conflict relationship table according to the number of maintenance-type processing constraints, the number of joint axes involved in the conflict, and the joint axis occupancy, and generates maintenance results, deviation adjustment results, and adjustment actions item by item. After the arbitration of each conflict relationship is completed, the joint axis occupancy in the processing constraint conflict relationship table is recalculated so that subsequent arbitrations can inherit the actual occupancy status after the previous handling. This process enables the processing constraint arbitration results to reflect the conflict priority relationship and occupancy changes within the current local processing window, providing a continuous and clear basis for the motion reconstruction module to generate local multi-axis motion reconstruction instructions.

[0042] Motion Reconstruction Module Reference Figure 1 , Figure 3After receiving the machining constraint arbitration results output by the constraint arbitration module, the motion reconstruction module converts the retention results, deviation adjustment results, and adjustment actions into multi-axis motion targets that can be issued within the local machining window. During surface grinding, the aforementioned machining constraint arbitration results have determined the machining constraints that need to be retained, the deviation objects that need to be adjusted, and the adjustment actions that need to be executed. Based on this, the motion reconstruction module reconstructs the joint axis target position, joint axis target speed, tool posture, local feed speed, or local transition point, and re-verifies the constraint matching results after reconstruction to ensure that the local multi-axis motion reconstruction command is consistent with the machining constraint conflict handling results within the current machining segment. The motion reconstruction module includes a reconstruction command generation unit, a reconstruction verification unit, and a retention target locking unit, as detailed below: The reconstruction instruction generation unit reads the retention results, deviation adjustment results, and adjustment actions from the machining constraint arbitration results, and reconstructs the joint axis target positions, joint axis target velocities, tool posture, local feed rates, or local transition points within the local machining window to form local multi-axis motion reconstruction instructions. During execution, the reconstruction instruction generation unit first reads the retention results, deviation adjustment results, and adjustment actions corresponding to the current local machining window from the machining constraint arbitration results. The retention results include path-keeping targets, tool orientation-keeping targets, or contact force-keeping targets that need to be maintained; the reconstruction instruction generation unit uses these targets as retention objects in the local multi-axis motion reconstruction instructions. The deviation adjustment results include tool posture or local posture smoothing targets that have been adjusted to within the allowable deviation range; the reconstruction instruction generation unit corrects the original tool posture target accordingly and calculates the corresponding joint axis target positions or joint axis target velocities through robot kinematics. Adjustment... The actions include local feed rate adjustment, redundant joint allocation, or local transition point rearrangement. The reconstruction instruction generation unit updates the local feed rate, the joint axis bearing the adjustment, or the local transition point position according to the adjustment action. When a local multi-axis motion reconstruction instruction is formed, the reconstruction instruction generation unit outputs the reconstructed joint axis target position, joint axis target speed, tool posture, local feed rate, or local transition point in the order of trajectory points in the current local machining window. For example, in the concave avoidance section, the constraint arbitration module writes the tool direction holding constraint into the holding result, adjusts the posture continuity constraint to the allowable deviation range, and converts the redundant joint allocation constraint into an adjustment action in which the fourth and sixth joint axes jointly bear the posture change. Based on this, the reconstruction instruction generation unit recalculates the target position and target speed of the fifth, fourth, and sixth joint axes to form the local multi-axis motion reconstruction instruction of the current local machining window.

[0043] The reconstruction verification unit returns the multi-axis motion target corresponding to the local multi-axis motion reconstruction command to the constraint matching module. The constraint matching module recalculates the constraint matching results within the local machining window and feeds back the recalculated constraint matching results to the motion reconstruction module. During execution, the reconstruction verification unit reads the local multi-axis motion reconstruction command generated by the reconstruction command generation unit and inputs the multi-axis motion target as a new execution requirement into the constraint matching module. Based on the reconstructed joint axis target position, joint axis target velocity, tool posture, local feed speed, or local transition point, the constraint matching module recalculates the position occupancy, velocity occupancy, acceleration occupancy, drive output occupancy, or limit distance occupancy of each machining constraint on the corresponding joint axis, and compares it again with the axis motion boundary constraints to obtain the recalculated constraint matching results. The reconstruction verification unit then... The recalculated constraint matching result is received, and it is determined whether there are still records where at least two machining constraints cannot be executed simultaneously. If the recalculated constraint matching result does not indicate that at least two machining constraints cannot be executed simultaneously, the reconstruction verification unit marks the local multi-axis motion reconstruction command as an output command. If the recalculated constraint matching result still indicates that at least two machining constraints cannot be executed simultaneously, the reconstruction verification unit feeds back the corresponding combination of machining constraints that cannot be executed simultaneously, the joint axes involved in the conflict, and the conflict boundary type to the target locking unit. For example, in the edge transition section, although the reconstructed tool posture is within the allowable deviation range, it is found after recalculation that the contact force holding constraint and the feed adjustment constraint still jointly occupy the drive output boundary of the second joint axis. The reconstruction verification unit then feeds back the recalculated constraint matching result to the motion reconstruction module for further processing.

[0044] The target locking unit, when the recalculated constraint matching result still indicates that at least two machining constraints cannot be executed simultaneously, locks the multi-axis motion targets corresponding to the already satisfied hold-type machining constraints in the recalculated constraint matching result, and instructs the constraint arbitration module to update the deviation adjustment result of the limit deviation type machining constraint or the adjustment action of the alternative adjustment type machining constraint; during execution, the target locking unit first reads the recalculated constraint matching result and identifies the already satisfied hold-type machining constraints; the satisfied hold-type machining constraints are determined by the status record in the constraint matching result, specifically, the execution requirement of the corresponding hold-type machining constraint does not exceed the axis motion boundary constraint of its associated joint axis, and is not recorded as a combination of machining constraints that cannot be executed simultaneously; the target locking unit locks the joint axis target position and tool axis direction corresponding to these satisfied hold-type machining constraints. The target locking unit marks the given range of contact force or the position of the tool center point as the locked object, and keeps this part of the multi-axis motion target from being modified during subsequent updates. Then, the target locking unit sends the still conflicting machining constraint combinations, the joint axes involved in the conflict, the conflict boundary type, and the locked objects to the constraint arbitration module, instructing the constraint arbitration module to only update the deviation adjustment results of the limit deviation type machining constraint or the adjustment action of the alternative adjustment type machining constraint. For example, after reconstruction verification, it is shown that the path holding constraint and the tool orientation holding constraint have been satisfied, but the attitude continuity constraint and the redundant joint allocation constraint still cause the velocity boundary of the fifth joint axis to be exceeded. The target locking unit locks the multi-axis motion target corresponding to the path holding constraint and the tool orientation holding constraint, and instructs the constraint arbitration module to update the deviation adjustment results of the attitude continuity constraint or reallocate the redundant joint undertaking relationship.

[0045] The motion reconstruction module converts the machining constraint arbitration results into local multi-axis motion reconstruction instructions and verifies the matching status between the reconstructed multi-axis motion target and the axis motion boundary constraints through reconstruction verification. When machining constraint conflicts still exist, the target locking unit keeps the multi-axis motion target corresponding to the already satisfied maintenance type machining constraints unchanged and promotes the continued updating of the amplitude limit deviation type machining constraints or the alternative adjustment type machining constraints. This process enables the local multi-axis motion reconstruction instructions to take over the machining constraint arbitration results to form continuous control outputs and reduces the impact on the already satisfied machining constraints during repeated reconstruction.

[0046] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-axis cooperative motion control system for an industrial robot, characterized in that, include: The data acquisition module acquires the machining trajectory, tool axis direction, contact force range, tool posture, axis motion state of each joint axis, and current machining segment number from the surface grinding process, and outputs them to the machining constraint processing module. The machining constraint processing module reads the corresponding machining constraint configuration based on the current machining segment number to obtain the machining constraint set for the current machining segment. The machining constraint set includes maintenance-type machining constraints, amplitude limit deviation-type machining constraints, substitution adjustment-type machining constraints, and axis motion boundary constraints. The constraint matching module calculates the execution requirements of each machining constraint within the local machining window based on the machining trajectory, tool axis direction, contact force range, tool posture, and axis motion state of each joint axis. It then matches the execution requirements of each machining constraint with the axis motion boundary constraints to obtain the constraint matching results. The conflict relationship generation module generates a processing constraint conflict relationship table when the constraint matching result indicates that at least two processing constraints cannot be executed simultaneously. The processing constraint conflict relationship table records the processing constraints that are in conflict, the joint axes involved in the conflict, the conflict relationship between processing constraints, the occupancy relationship of processing constraints on joint axes, and the corresponding handling method of processing constraints. The constraint arbitration module generates processing constraint arbitration results based on the processing constraint conflict relationship table. The processing constraint arbitration results include the holding results of holding-type processing constraints, the deviation adjustment results of limiting deviation-type processing constraints, and the adjustment actions of alternative adjustment-type processing constraints. The motion reconstruction module reconstructs the multi-axis motion targets within the local machining window based on the machining constraint arbitration results, and generates local multi-axis motion reconstruction instructions.

2. The system according to claim 1, characterized in that, The data acquisition module includes a trajectory reading unit, a tool status reading unit, an axis status reading unit, and a machining section number reading unit, wherein: The trajectory reading unit reads the machining trajectory from the surface grinding machining program and outputs the machining trajectory to the machining constraint processing module; The tool status reading unit reads the tool axis direction, contact force range, and tool posture from the surface grinding machining program, and outputs the tool axis direction, contact force range, and tool posture to the machining constraint processing module. The axis status reading unit reads the joint axis position, joint axis velocity, joint axis acceleration, drive output status and joint limit distance of each joint axis, and outputs the joint axis position, joint axis velocity, joint axis acceleration, drive output status and joint limit distance as the axis motion status of each joint axis to the machining constraint processing module; The processing segment number reading unit identifies at least one of the following processing trajectory intervals in the surface grinding process: the curvature change position, the workpiece edge position, the concave avoidance position, and the tool retraction position. It then outputs the number corresponding to the processing trajectory interval as the current processing segment number to the processing constraint processing module.

3. The system according to claim 1, characterized in that, The machining constraint processing module includes a constraint category reading unit, a machining constraint classification unit, and an axis motion boundary processing unit, wherein: The constraint category reading unit reads the corresponding processing constraint configuration using the current processing segment number as an index, extracts the constraint category from the processing constraint configuration, and forms a set of constraint categories corresponding to the current processing segment. The machining constraint classification unit classifies path holding constraints, tool orientation holding constraints, and contact force holding constraints in the constraint category set into holding-type machining constraints; tool attitude deviation constraints, attitude continuity constraints, and local attitude smoothing constraints into amplitude limiting deviation-type machining constraints; and feed adjustment constraints, redundant joint allocation constraints, and local transition point adjustment constraints into alternative adjustment-type machining constraints. The axis motion boundary sorting unit reads the axis motion state of each joint axis and calls the formation result of the axis motion boundary constraint. Then, it merges the maintenance type machining constraint, the amplitude limit deviation type machining constraint, the substitution adjustment type machining constraint and the axis motion boundary constraint into the machining constraint set of the current machining segment.

4. The system according to claim 3, characterized in that, The processing constraint processing module further includes a configuration field parsing unit, a constraint target extraction unit, and a processing method binding unit, wherein: The configuration field parsing unit reads the processing segment number field, processing constraint name field, constraint category field, constraint target field, allowable deviation range field, corresponding joint axis field, and handling method field from the processing constraint configuration corresponding to the current processing segment number, forming a set of processing constraint configuration fields for the current processing segment; The constraint target extraction unit extracts the constraint target and allowable deviation range corresponding to each processing constraint from the processing constraint configuration field set, and binds the constraint target and allowable deviation range to the corresponding holding type processing constraint, amplitude limit deviation type processing constraint, or alternative adjustment type processing constraint. The handling method binding unit determines the holding method, deviation adjustment method, or alternative adjustment method corresponding to each processing constraint from the handling method field, and writes the holding method, deviation adjustment method, or alternative adjustment method into the processing constraint set of the current processing segment.

5. The system according to claim 3, characterized in that, The axis motion boundary adjustment unit includes an axis margin calculation unit, a boundary constraint forming unit, and a local window partitioning unit, wherein: The shaft margin calculation unit reads the joint axis position, joint axis velocity, joint axis acceleration, drive output state, and joint limit distance of each joint axis, and compares the joint axis position with the joint axis position boundary to obtain the joint axis position margin, compares the joint axis velocity with the joint axis velocity boundary to obtain the velocity margin, compares the joint axis acceleration with the joint axis acceleration boundary to obtain the acceleration margin, and compares the drive output state with the drive output boundary to obtain the drive output margin. The boundary constraint forming unit organizes the joint axis position margin, velocity margin, acceleration margin, drive output margin, and joint limit distance into the axis motion boundary constraints corresponding to each joint axis. The local window is divided into units. A continuous trajectory segment containing the trajectory point corresponding to the current control cycle and located within the current processing segment number is extracted along the processing trajectory. The continuous trajectory segment is then associated with the current processing segment number to form a local processing window.

6. The system according to claim 5, characterized in that, The constraint matching module includes an execution requirement calculation unit, a joint axis occupancy calculation unit, and a conflict determination unit, wherein: The execution requirement calculation unit reads the machining trajectory, tool axis direction, contact force range and tool posture within the local machining window, calculates the joint axis target position corresponding to each machining constraint, the joint axis target position combination used to maintain the tool axis direction, the tool feed direction adjustment amount or the tool posture adjustment amount, and forms the execution requirements for each machining constraint. The joint axis occupancy calculation unit, based on the robot kinematic relationship corresponding to the surface grinding process, maps the execution requirements of each processing constraint to the corresponding joint axis, and calculates the position occupancy, velocity occupancy, acceleration occupancy, drive output occupancy, or limit distance occupancy of each processing constraint on the corresponding joint axis. The conflict determination unit, within the same local machining window, superimposes the joint axis occupancy of at least two machining constraints mapped to the same joint axis and corresponding to the same boundary type, and compares the superimposed joint axis occupancy with the axis motion boundary constraint of the corresponding boundary type of the joint axis; when the superimposed joint axis occupancy exceeds the axis motion boundary constraint of the corresponding boundary type of the joint axis, it determines that at least two machining constraints cannot be executed simultaneously, and generates a constraint matching result.

7. The system according to claim 6, characterized in that, The conflict relationship generation module includes a conflict object extraction unit, an occupancy relationship writing unit, and a handling method association unit, wherein: The conflict object extraction unit reads the combination of processing constraints that cannot be executed simultaneously from the constraint matching results, extracts the corresponding processing constraints, the joint axes involved in the conflict, and the conflict boundary type, writes the combination of processing constraints that cannot be executed simultaneously into the conflict relationship field of the processing constraint conflict relationship table, writes the corresponding processing constraints into the processing constraint field, and writes the joint axes involved in the conflict into the joint axis field. The occupancy relationship is written into the unit, which reads the joint axis occupancy corresponding to each machining constraint and writes the position occupancy, velocity occupancy, acceleration occupancy, drive output occupancy, or limit distance occupancy into the joint axis occupancy field of the machining constraint conflict relationship table. The handling method association unit reads the holding method, deviation adjustment method, or alternative adjustment method corresponding to the conflicting processing constraints from the processing constraint set of the current processing segment, and writes the holding method, deviation adjustment method, or alternative adjustment method into the handling method field of the processing constraint conflict relationship table.

8. The system according to claim 7, characterized in that, The constraint arbitration module includes a conflict order determination unit, a hierarchical arbitration unit, and a conflict relationship update unit, wherein: The conflict order determination unit reads the conflict relationship field, joint axis field, and joint axis occupancy field from the processing constraint conflict relationship table, and arranges each conflict relationship in order of the number of maintenance-type processing constraints from most to least; when the number of maintenance-type processing constraints is the same, it arranges them in order of the number of joint axes involved in the conflict from most to least; when the number of joint axes involved in the conflict is the same, it arranges them in order of the joint axis occupancy from highest to lowest, thus obtaining the arbitration order of each conflict relationship. The hierarchical arbitration unit processes each conflict relationship in sequence according to the arbitration order. When processing the current conflict relationship, the constraint target corresponding to the maintenance type processing constraint is written into the maintenance result, the allowable deviation range corresponding to the amplitude limit deviation type processing constraint is compared with the current tool posture or local posture smoothing target to obtain the deviation adjustment result, and the disposal method corresponding to the alternative adjustment type processing constraint is converted into at least one adjustment action among local feed rate adjustment, redundant joint allocation or local transition point rearrangement. The conflict relationship update unit writes the retention result, deviation adjustment result, or adjustment action corresponding to the current conflict relationship into the processing constraint conflict relationship table, recalculates the joint axis occupancy in the remaining conflict relationships, and outputs the updated processing constraint conflict relationship table to the hierarchical arbitration unit until all conflict relationships in the processing constraint conflict relationship table have been arbitrated.

9. The system according to claim 8, characterized in that, The motion reconstruction module includes a reconstruction instruction generation unit, a reconstruction verification unit, and a target locking unit, wherein: The reconstruction instruction generation unit reads the retention result, deviation adjustment result, and adjustment action from the machining constraint arbitration result, and reconstructs the joint axis target position, joint axis target speed, tool posture, local feed speed, or local transition point within the local machining window to form a local multi-axis motion reconstruction instruction; The reconstruction verification unit returns the multi-axis motion target corresponding to the local multi-axis motion reconstruction command to the constraint matching module. The constraint matching module recalculates the constraint matching result within the local machining window and feeds the recalculated constraint matching result back to the motion reconstruction module. The target locking unit locks the multi-axis motion target corresponding to the maintenance-type processing constraints that have been satisfied in the recalculated constraint matching results when the recalculated constraint matching results still indicate that at least two processing constraints cannot be executed simultaneously. It also instructs the constraint arbitration module to update the deviation adjustment results of the amplitude limit deviation type processing constraints or the adjustment action of the alternative adjustment type processing constraints.

10. The control method of the system according to any one of claims 1-9, characterized in that, include: S1. Obtain the machining trajectory, tool axis direction, contact force range, tool posture, axis motion state of each joint axis, and current machining segment number in the surface grinding machining program, and use the machining trajectory, tool axis direction, contact force range, tool posture, axis motion state of each joint axis, and current machining segment number as input data for machining constraint organization. S2. Read the corresponding machining constraint configuration according to the current machining segment number to obtain the machining constraint set of the current machining segment; the machining constraint set includes maintenance type machining constraints, amplitude limit deviation type machining constraints, substitution adjustment type machining constraints, and axis motion boundary constraints; S3. Based on the machining trajectory, tool axis direction, contact force range, tool posture, and axis motion state of each joint axis, calculate the execution requirements of each machining constraint within the local machining window, and match the execution requirements of each machining constraint with the axis motion boundary constraints to obtain the constraint matching results. S4. When the constraint matching result indicates that at least two processing constraints cannot be executed simultaneously, a processing constraint conflict relationship table is generated. The processing constraint conflict relationship table records the processing constraints that conflict, the joint axes involved in the conflict, the conflict relationship between processing constraints, the occupancy relationship of processing constraints on joint axes, and the corresponding handling method of processing constraints. S5. Generate the processing constraint arbitration result based on the processing constraint conflict relationship table; the processing constraint arbitration result includes the holding result of the holding type processing constraint, the deviation adjustment result of the limiting deviation type processing constraint, and the adjustment action of the alternative adjustment type processing constraint; S6. Based on the arbitration result of the machining constraints, reconstruct the multi-axis motion target within the local machining window and generate a local multi-axis motion reconstruction instruction.

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