The invention discloses a prospective preprocessing method and
system in six-axis mechanical motion
automatic control, particularly relates to the field of six-axis mechanical motion
automatic control, and is used for solving the problem of insufficient track prediction and control precision in a load sudden change scene. The
inertia tensor is updated in real time in combination with dual-channel Kalman filtering, dynamic
inertia data are accessed, and the sensitivity of trajectory prediction to load change is improved; double-domain
feature extraction of time-domain thermal stress density and frequency-domain
energy dispersion is adopted, acceleration pulse
layout is dynamically optimized by using a complementary integral mechanism, and the overload risk of a driver is reduced; meanwhile, the instruction dispatcher avoids cache overflow through advanced
rhythm regulation and control, and continuity of instruction streams is guaranteed; the
inertia model is continuously refreshed through closed-loop feedback, and synchronous evolution of inertia change and trajectory prediction is achieved; the overload shutdown risk caused by inertia
lag of six-axis mechanical motion is reduced, and the
adaptive capacity of the prospective preprocessing method in a dynamic complex operation environment is enhanced.