The invention provides a special-shaped
trajectory control method and device, relates to the field of
automatic control. The method comprises a step of receiving original trajectory
point data, a step of dividing the original trajectory
point data into multiple trajectory intervals according to the trajectory characteristics of the original trajectory
point data, a step of fitting the original trajectory point data in each trajectory interval and obtaining a corresponding fitting curve, a step of carrying out discrete
processing on the fitting curve of each trajectory interval so as to obtain the 3D coordinates of a corresponding
discrete curve point, a step of generating a next interpolation
data point position of a synchronous axis according to a predetermined time interval and according to the structure parameters of the synchronous axis and the 3D coordinates of the
discrete curve point, and a step of controlling the motion trajectory of the synchronous axis according to the interpolation
data point position of the synchronous axis. Thus an acceleration process is more stable and efficient, an error rate is small, and
processing equipment is protected. The accuracy is extremely high.