Rough Trajectory Control for Redundant-Drive Processing Machines
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Solution Overview
Problem
Existing methods for determining a rough path for processing machines with redundant drive devices are computationally intensive and often result in processing times that exceed the physical capabilities of the machine, leading to unsatisfactory results.
Innovation Solution
A method that iteratively constructs a rough path by determining subsequent nodes based on a distance condition, using a contour function defined by ascendingly indexed nodes, where each rough path node is positioned on a connecting line between the initial node and a contour node within a specified distance, ensuring the highly dynamic drive's path limits are not exceeded, without requiring low-pass filtering or multiple iterations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If low-pass filtering and multiple iterations are used to determine the rough path, then the accuracy of the rough path determination is improved, but the computing time increases beyond the physical capabilities of the machine
Solution Approach 1:
The method segments the rough path determination into discrete node selection steps. Instead of applying continuous low-pass filtering across the entire path, the algorithm selects subsequent rough path nodes one by one based on local distance conditions and weighting factors, making the computation incremental and efficient while maintaining accuracy.
Solution Approach 2:
The invention changes the parameter basis from continuous coordinate filtering to discrete node selection with weighting factors. By using weighting factors that reflect the relative importance of different contour nodes and applying distance conditions, the method achieves accurate rough path determination without the computational overhead of traditional filtering approaches.
2Manufacturing precision
If the rough path is calculated using traditional methods, then the path decomposition is thorough, but the processing time exceeds the physical capabilities of the machine
Solution Approach 1:
The method performs preliminary selection of candidate contour nodes based on distance conditions before final rough path node determination. By pre-identifying which contour nodes satisfy the distance criterion and then applying weighting factors, the algorithm reduces the search space and computation required while ensuring accurate path decomposition that respects machine capabilities.
Solution Approach 2:
The invention introduces dynamic weighting factors that adaptively adjust the influence of different contour nodes based on local path characteristics. This dynamic approach allows the algorithm to focus computational effort on critical sections of the path while simplifying processing in less critical areas, thereby improving both accuracy and processing speed.
Data Source
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AI summary
The invention relates to a method for determining a rough trajectory from a predefined contour for controlling a processing machine, which has at least two drive devices, which are redundant with respect to one another, for carrying out the superimposing movements. The contour is determined by a contour function, which is defined in sections at least by ascending-indexed contour node points Po to Pn+i and contour node points Po to Pn+i associated with the contour nodes po to pn and has a contour start node Po. The rough trajectory is determined by a rough trajectory function which is defined in sections at least by ascending-indexed rough-trajectory node points Qo to Qn+i and has a rough trajectory start node point Qo, wherein the rough trajectory start node point Qo is set equal to the contour start node Po and is subsequently determined in a first iteration step from the contour nodes Pj to Pn+i, the index value k thereof being equal to or higher than the index value j of the respective initial rough trajectory node point Qj, that contour node point Pk having the smallest possible index value k, the distance thereof from the initial rough trajectory node point Qj still meeting a predetermined distance measurement, and in a second iteration step a respective subsequent rough trajectory node point Qj+i following the respective initial rough trajectory node path Qj is determined, which lies on a connecting line between Qj and Pk, or lies between Qj and a centre of gravity of the section contour Pj to Pk.