40results about How to "Acceleration continuous" patented technology

The invention provides a trajectory planning method for double-robot coordinative assembling based on a spline curve B, and belongs to the field of trajectory planning. According to the method, a task module, a master-slave robot joint trajectory planning module, an obstacle avoidance strategy module, a multi-objective optimization module and an industrial robot driver are included. According to the master-slave robot joint trajectory planning module, the joint trajectory planning method for double-robot coordinative assembling based on the spline curve B and a coordinative assembling error compensating method are invented; according to the obstacle avoidance strategy module, a double-robot deep search obstacle avoidance strategy is invented; according to the multi-objective optimization module, a multi-objective planning method for solving the kinematic constraint conditions that robot coordinative assembling has little time and the assembling track is smooth based on a swarm intelligence algorithm is invented. According to the technical scheme, the double-robot coordinative assembling track which is short in assembling short, smooth in assembling section joint track and free of interference and successfully avoiding obstacles can be obtained, cost is reduced, and damage to assembled parts is avoided.

The invention discloses a multi-axis robot point position synchronous control method and system based on S curve acceleration and deceleration. An angle difference of each joint axis between two pointpositions of a multi-axis robot is calculated; under the condition of ensuring a preset movement characteristic of each axis to be maximum, speed planning is carried out on each joint axis by using the S curve acceleration and deceleration, movement time of each axis is obtained, the axis with the longest movement time is taken as a reference, and periodic interpolation displacements of other joints are calculated through time ratios of other joints to the reference, so that synchronous control is realized. According to the synchronous control method and system, the precision of the robot point position synchronous control is improved; the speed and the acceleration of the robot are ensured to be continuous; and the calculation amount is reduced.

The invention discloses a design method for the outer circle profile curve of a large ellipticity piston, that is, the combination curve of "ellipse + cycloid" and the combination curve of "ellipse + gradient ellipse". The invention can make the displacement of the curve smoother and the speed and acceleration continuous , there is no sudden change; the eccentric circle part is redesigned as a gradient ellipse whose ellipticity increment changes in a quadratic sine law, which solves the problem of cusps and discontinuous acceleration in the displacement at the intersection of the ellipse and the eccentric circle combination line, and realizes the ellipse and eccentric circle. The smooth transition of acceleration at the intersection of eccentric circles can effectively avoid sudden acceleration changes during machining, reduce tool impact, and improve machining accuracy.

The invention relates to an acceleration or deceleration control method of numerical control system based on filter technique, which comprises the following steps: planning straight acceleration or deceleration by using the inputted workpiece program data; performing moving average filtering and filter compensation on the planned speed of the straight acceleration or deceleration to obtain a new planned speed value and a position value; performing interpolation on the position value; transmitting the interpolated position value to a servo driver in order to control a servomotor; wherein the moving average filtering of the planned speed of the straight acceleration or deceleration is implemented by adding a moving average filter after planning the straight acceleration or deceleration to control sudden changes of an accelerated speed, particularly comprising the following steps: calculating the speed with a method of planning the moving average filtering speed; changing the smooth degree of the straight acceleration or deceleration by selecting filter length (i.e. controlling the magnitude and the shape of the accelerated speed); and calculating a planned position according to the speed after filtering. The invention solves the vibration problem of a numerically-controlled machine tool during movement, and has the advantages of easy implementation, good compatibility and good flexibility.

The invention relates to a continuous casting crystallizer non-sinusoidal oscillation method. In each oscillation period, an oscillation waveform is formed by a seven-segment function, the motion lawof a crystallizer drive device is controlled, so that the crystallizer achieves the non-sinusoidal oscillation shown by the seven-segment function; if 0<=t<=tB, the crystallizer moves upwards at constant speed, and the speed is a constant; if tB<=t<=tC, the crystallizer upwards does the variable deceleration motion, the speed curve is a parabola, the motion is conducted to the time of tC, and thespeed becomes 0; if tC<=t<=tD, the crystallizer downwards moves at constant acceleration, and the speed curve is a skew line; if tD<=t<=tF, the crystallizer moves downwards at variable acceleration and then downwards moves at variable deceleration, and the speed curve is a parabola; if tF<=t<=tG, the crystallizer downwards moves at constant deceleration, the time of tG is reached, the speed becomes 0, and the speed curve within the time period is a straight line; if tG<=t<=tH, the crystallizer moves upwards at variable acceleration, and the speed curve is a skew line; and if tH<=t<=tK, the crystallizer moves upwards at constant speed, the speed is a constant, and a section of horizontal line is achieved.