The Optimization Of Planar Continuous Small Line Segments Trajectory Of Motion Control

With the development of manufacturing and computer technology, motion control technology is wisely used in industrial manufacturing. The optimization of continuous trajectory is an important section of motion control technology. The result of optimization directly affects the performance of motion control technology. It is the focus of research at present, and also one section need to be improved. So, this paper makes deep research to the optimization of trajectories which are described as planar continuous small line segments.According to relation ship of points'positions in the trajectory, it gives the definition of bad points, which have large changes on direction of non-geometric features and small distance. In order to avoid the affection of these bad points on the speed and the load of smoothing treatment latter, deleting all the bad points under the given tolerance first, then carrying out data segmentation to avoid the occurrence of big error when interpolation.Considering most motion controllers only have line and arc interpolation function nowadays, this paper uses biarc interpolation under the condition that requesting the optimal curve must pass through every data points, complements the existing biarc interpolation algorithm, which can be used to the most of planar ordered point set. Then introduces the fairing algorithm of planar ordered point set, adjusts the point position and carries out biarc interpolation after obtains fairing point set. It has been verified by experiment that this algorithm is reliable. If it does not request the optimal curve must pass through every data points, least-square arc fitting approach can be used. Based on the analysis of some weaknesses of traditional least-square arc fitting approach, this paper proposed least-square arc fitting approach with constrains, it makes the adjacent arcs or arc and line segment connected, and the maximal chord errors which formed by arc and line segment composed of points are considered. In order to reduce the number of fitting arc, bisection is used so that it can carry out the longest arc fitting to all the points.