Robot motion track locating method and robot motion track locating device

Abstract

Provided are a robot motion track locating method and a robot motion track locating device. The robot motion track locating device comprises a robot controller, a pulse controller, an actuator, a motor and a robot body. The robot controller sends a command to the pulse controller. The pulse controller receives the command, and drives the actuator to control the motor to rotate. The pulse controller receives the number of command pulses of each period of the robot controller. S-shaped curve acceleration and deceleration is carried out by the pulse controller on a received position point to be used as a rough interpolation operation, positional values of continuous commands of each period of the robot controller are obtained, the speed when the robot body reaches each position point is obtained through a slope value between two adjacent points, and a speed section which the speed belongs to is confirmed on an S-shaped curve, i sections of variables are divided between two position points, a PVT space arc fine interpolation operation is carried out on each variable section, and a pulse output function in a DSP digital signal processor of the pulse controller is called to carry out pulse sending. The robot motion track locating method and the robot motion track locating device enable a robot to stably move, improve locating accuracy and speed responsiveness of a system, and save production cost of an enterprise.

Description

technical field [0001] The invention relates to the field of automatic semiconductor processing, in particular to a method and a device for positioning robot motion tracks in the acceleration and deceleration motion control of industrial robots. Background technique [0002] In the field of robot control, how to make the motor run smoothly and safely according to the expected trajectory is the key issue to determine the performance of the robot; the controller's control of the time interval of the drive pulse transmission is a prerequisite for ensuring the smooth operation of the motor; interpolation calculation is to achieve The key technology for high-speed and high-precision trajectory control of robots. [0003] In order to make the robot run according to the expected trajectory, its motion accuracy and positioning accuracy can meet the predetermined requirements, and avoid sudden changes in the speed of the motor due to the electrical and mechanical inertia of the contr...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the above problems, the present invention proposes a method and device for positioning robot motion trajectory that can be applied to industrial robots to realize high-speed and high-precision positioning, and can avoid as far as possible due to the electrical and mechanical inertia of the control system, drive system, and robot body. Its speed changes suddenly, resulting in dynamic errors such as shock, vibration, overshoot or out of step, resulting in the reduction of system accuracy.

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