Double-thread-based speed preprocessing algorithm

Abstract

The invention discloses a double-thread-based speed preprocessing algorithm. The algorithm comprises the following steps of step 1, establishing a round-robin queue of linear / circular arc-shaped storage line segments, adopting the head segment of unmachined line segments in the queue as the starting position of a real-time thread, and adopting the last segment of unmachined line segments in the queue as the starting position of a non-real-time thread; step 2, dividing the speed preprocessing algorithm into a real-time part and a non-real-time part, wherein the real-time part is placed in the real-time thread and is configured to run together with a speed planning algorithm, and the non-real-time part is placed in the non-real-time thread and is configured to run together with a line segment inserting program. According to the invention, the real-time performance of the whole algorithm can be improved and the calculation amount of programs can be reduced. The burden of the real-time thread is reduced, and the processing efficiency of equipment corresponding to the application software is improved. The processing quality and the like can be improved. The continuous improvement requirements of the new market are met. Meanwhile, the algorithm creates more economic benefits and more social benefits for enterprises.

Description

technical field [0001] The invention relates to a computer algorithm, in particular to a speed preprocessing algorithm based on two threads. Background technique [0002] At present, speed planning algorithms such as ladder diagram speed planning, S-shaped speed planning, and sine speed planning have been widely used in numerical control systems and industrial robot operations. The function of the speed planning algorithm is to plan the time-optimal speed curve for a section of the path under the given initial and final speed, path length, maximum speed, maximum acceleration and maximum jerk, and ensure the smooth motion of the given path, thereby improving the motion The precision of control. The difficulty lies in the determination of the first and last speeds to ensure a smooth transition at the junction of multi-segment paths. Most of the existing technologies use forward-looking algorithms, and most of them run forward-looking algorithms and speed planning algorithms ...

AI Technical Summary

Problems solved by technology

However, in the case of continuous small line segments, although the method of changing the first and last speeds in the forward-looking process can ensure the accessibility of the link speed between forgings, frequent changes of the first and last speeds (generally using the search method to solve) will greatly increase the amount of program calculations and increase Large real-time thread burden, and may reduce processing efficiency. Although the method of inter-segment linking has less calculation, there may be too many line segment links, and the planning speed is much higher than the inter-segment link speed, which affects the processing quality and other problems.

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