空间曲线的六轴联动控制算法研究与测试

针对六坐标空间的复杂曲线的加工，提出六轴联动的控制算法。根据六轴之间的运动关系，合成其进给速度，由之推导出插补变量值，得出相应的六轴插补坐标值，实现动点的稳速控制。采用该控制算法在自主研制的六轴嵌入式数控工具磨削系统中进行锥刃磨削的多轴联动插补测试，根据锥刃铣刀的数学模型得出插补算式。仿真与实际磨削测试表明，该六轴联动控制算法切实高效，实现复杂曲线的六轴联动控制，进给的合成速度控制恒定，能确保高质量加工。

Research and Test on Control Algorithm for Space Curve in 6-Axis Simultaneous Feeding

Aiming at machining for complex curve in 6-coordinate space, a control algorithm is presented in 6-axis simultaneous feeding. Based on moving relationship among the 6 axes, the feed velocity is composited by which the interpolation variable is developed and relative interpolation coordinates for 6 axis are obtained to implement constant-speed control on the moving point. By using the control algorithm, the multi-axis simultaneous feeding interpolation to grind the conical cutter is tested in the 6-axis embedded CNC (computer numeric control) tool grinding system. The interpolation equations are deducted according to the mathematical model of the conical milling cutter. Both the simulation and field test show the interpolation algorithm is feasible with high efficiency to implement the complex curve in 6-axis simultaneous feeding and the resultant speed for feeding can be controlled at constant speed to keep high machining quality.