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Speed control method for inching operation of robot

A speed control and robot technology, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problem that high-speed jogging cannot stop smoothly in time

Inactive Publication Date: 2015-11-25
SOUTHEAST UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The method of the invention can make the speed of the jogging process smooth, can effectively reduce the impact and wear on the mechanical structure and reduce the energy consumption of the movement, realize jogging at a small distance, and solve the problem that the jogging at high speed cannot be stopped smoothly in time

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  • Speed control method for inching operation of robot
  • Speed control method for inching operation of robot
  • Speed control method for inching operation of robot

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Embodiment Construction

[0059] The present invention will be further described below in conjunction with the accompanying drawings.

[0060] The key to the implementation of the invention lies in the synchronous management of the calculation thread and the execution thread of the robot jogging interpolation sequence by the control program. When the controller receives the jog request signal, the program successively starts the calculation thread and execution stroke of the interpolation sequence; after cyclically calculating and executing several interpolation sequences of acceleration & constant speed time slices, when it is detected that the user actively stops the jog (release the button) or there is an unreachable point in the robot movement (beyond the reachable range of the robot or a collision will occur), execute the stop segment sequence, log off the calculation process and execution thread in turn, and wait for the next jog request. The length of the time slice is fixed for the program, and...

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Abstract

The invention discloses a speed control method for inching operation of a robot. According to the method, the speed control process of inching operation is divided into an acceleration and constant speed stage and a stopping stage. The acceleration and constant-speed stage includes a periodically-changing acceleration substage, an acceleration-constant speed transition substage and a constant speed substage, and the acceleration-constant speed transition substage and the constant speed substage can be omitted. A time slice with a fixed duration serves as the unit of each substage, so that the interpolating increment of a track is planned. By the adoption of the speed control method for inching operation of the robot, micro-distance inching can be achieved, the problems that too great mechanical shock is caused by inching operation in a manual teaching process, and high-speed inching cannot be stopped smoothly in time are effectively solved. The speed control method can be used for speed control of inching operation of manual teaching in spaces of all coordinate systems of the robot.

Description

technical field [0001] The invention relates to a speed control method for inching operation in a robot teaching mode, which belongs to the technology of industrial robots. Background technique [0002] Jog (JOG) operation in manual teaching mode is the operation in which the robot teaching personnel drives the robot to reach the teaching point in the space of various joint coordinate systems or Cartesian coordinate system, tool coordinate system and user coordinate system. During jogging operation, the controller needs to cooperate with the button status of the teaching process to perform interpolation calculation and execution in real time and synchronously. The traditional controller adopts an intuitive solution: the controller calculates the next interpolation point position every real-time control cycle, and completes the execution task in the same cycle. However, this solution has the following disadvantages: ①The jogging speed is not smooth, which will cause mechanic...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1656
Inventor 甘亚辉戴先中罗灿威徐超王雷
Owner SOUTHEAST UNIV
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