Abstract
A complex spatial boundary control method includes: obtaining the target desired position of the center of the ball head of a target grinding drill mounted at the operating end of the robot, complex spatial boundary data, and the radius of the target grinding drill ball head; where the complex spatial boundary data is a closed manifold polyhedron enveloped by triangular facets; and determining whether the target desired position is located outside the complex spatial boundary, and determining, based on the judgment result, whether to correct the target desired position according to the radius of the target grinding drill ball head, to obtain the safe desired position of the ball head center. The method can dynamically compensate for the radius of a high-speed grinding drill ball head, solving the problem that different compensating boundary models must be pre-generated and dynamically managed/switched for grinding tools with different ball head radii.