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针对多轴间的同步运动,提出了一种基于虚拟主轴的协调运动轨迹规划的算法。建立了多轴协调运动的运动学模型,分析多轴间的运动学约束,通过逆运动学运算得到任务空间的关键位置、速度和加速度序列,将上述运动学约束转换为相互耦合的非均匀B样条控制顶点的约束,利用非均匀B样条进行了轨迹规划。将上述多条运动轨迹间的耦合关系转换为各条运动轨迹与虚拟主轴之间的耦合关系,建立了基于电子凸轮的虚拟主轴的多轴间协调运动控制模型,结合实例对模型的有效性及其运动轨迹的性能进行了验证分析。
Aiming at the multi-axis synchronous motion, an algorithm of coordinated motion trajectory planning based on virtual main axis is proposed. The kinematic model of multi-axis coordinated motion is established. The kinematic constraints between multiple axes are analyzed. The key position, velocity and acceleration sequences of the task space are obtained by inverse kinematics. The above kinematic constraints are transformed into the non-uniform B Spline control vertices constraints, the use of non-uniform B-spline trajectory planning. The coupling relationship between the above trajectories is converted into the coupling relation between each trajectory and the virtual spindle. A multi-axis coordinated motion control model based on the electronic cam is established. Combining with the examples, the validity of the model, The performance of its trajectory was verified.