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A speed control method for robot jog operation

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

Inactive Publication Date: 2016-11-30
SOUTHEAST UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

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  • A speed control method for robot jog operation
  • A speed control method for robot jog operation
  • A speed control method for robot jog operation

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Embodiment Construction

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

[0060] The key to the implementation of the present invention is the synchronization management of the calculation thread and the execution thread of the robot jog 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 period, when it is detected that the user actively stops the jog (Release the button) or there is an unreachable point in the robot movement (out of the reach of the robot or 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 needs to be determined by the ...

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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 jog operation in a robot teaching mode, and belongs to industrial robot technology. Background technique [0002] Jog (JOG) operation in manual teaching mode is the operation of robot teaching personnel in various joint coordinate system spaces or Cartesian coordinate systems, tool coordinate systems and user coordinate systems to drive the robot to move to the teaching point. During jog operation, the controller needs to cooperate with the key state 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 position of the next interpolation point in each real-time control cycle, and completes the execution task in the same cycle. However, this solution has the following shortcomings: ①The jog speed is not smooth, which will cause mechanical shock; ②The initial motion acc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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