Blind Scanning Trajectory Planning Algorithm for Precision Coordinate Measurement Machine
Yinhaoyu Jing, Ze Wang, Chuxiong Hu, Limin Zhu · 2024
The trajectory planning of multi axis systems with unknown path information has become increasingly widely used in industrial scenarios that require blind scanning, such as coordinate measurement machine. It requires the use of known sparse discrete point coordinates and real-time geometric information feedback from the probe during blind scanning to provide motion trajectory and interpolation points online. Most current multi axis system trajectory planning algorithms have to require complete path geometry information and cannot handle scenarios with unknown paths. This paper analyzes the requirements for blind scanning trajectories in coordinate measurement scenarios and applies geometric constraints to the trajectory of task targets. A periodic interpolation path planning strategy is proposed, which uses a small amount of known geometric information to calculate the next path point based on the assumption of surface microsegment continuity. In order to meet the presence of positive pressure, the concept and calculation strategy of positive pressure increment are proposed. At the same time, a first-order discrete low-pass filter is designed to improve speed continuity, trajectory smoothness, and motion stability.