Trajectory planning method for multiple curved surfaces and equipment

• Main Authors: CHEN WEI, SONG JIANGBO, XU JIAXING, YAN SIJIE, ZHANG HAIYANG
• Format: Patent
• Language: Chinese; English
• Published: 11.02.2022
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention provides a trajectory planning method for multiple curved surfaces and equipment. The method comprises the following steps: solving an intersection curve of a plurality of space curved surfaces by adopting a section method to obtain a trajectory path; sequencing the intercepted disordered intersection curves, and obtaining ordered intersection curves are obtained; obtaining trajectory point coordinates and corresponding trajectory point vectors dispersed from each ordered intersection curve in sequence; and obtaining the attitude of each trajectory point according to each track point vector, and completing trajectory planning of the plurality of space curved surfaces. According to the method, the tedious operation of curved surface external merging can be reduced, the efficiency and applicability of offline programming can be improved, the path without angle constraint can be randomly generated, the disorder property of the intersection curve is improved, and the process of solving the attitude