Acceleration-deceleration interpolation algorithm for robot control system trajectory

A control system and interpolation algorithm technology, which is applied in general control systems, control/regulation systems, computer control, etc., can solve problems such as abrupt changes in acceleration, poor interpolation accuracy, and complex calculations

Inactive Publication Date: 2016-01-27
CHONGQING LINGLONG AUTOMATION EQUIP CO LTD
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Problems solved by technology

Disadvantages: There is a sudden change in acceleration, and the speed curve is not smooth
Disadvantages: complex calculation
Disadvantages: There is an impact on the machine tool at 2 points of start and stop
Disadvantage: When the acceleration setting is the same as the linear acceleration setting, the acceleration time is twice the linear acceleration time
[0010] The above two methods will exist when the interpolation period is constant, the faster the speed, the longer the ΔL, and the worse the interpolation accuracy

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  • Acceleration-deceleration interpolation algorithm for robot control system trajectory
  • Acceleration-deceleration interpolation algorithm for robot control system trajectory
  • Acceleration-deceleration interpolation algorithm for robot control system trajectory

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Embodiment Construction

[0025] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0026] A trajectory acceleration and deceleration interpolation algorithm for a robot control system, comprising the following steps:

[0027] 1. Smooth curve. The interpolation trajectory first uses cubic spline spline interpolation to make the curve smooth, and the function values ​​at each node (spline interpolation point) and the derivative information at the two boundaries are given to obtain curves with different smoothness. The smoother the curve, the faster the speed. faster. The cubic spline used here is a standard interpolation method, whether in the interval or on the boundary, its first derivative dy / dx is smooth, and the second derivative d 2 y / dx are continuous. The reason why we do not use piecewise linear interpolation here is that each node is connected by a broken line. The smaller the angle between the broken line at t...

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Abstract

The invention relates to an acceleration-deceleration interpolation algorithm for a robot control system trajectory. The acceleration-deceleration interpolation algorithm comprises the following steps: S1, smoothing curves: for interpolation trajectories, using cubic spline interpolation to smooth curves and calculating a function value at each node and derivative information at two boundaries; S2, inserting isometric points in a cubic spline curve calculated in the S1 and calculating the moving distance of each rotation axis through motion inverse operation after D-H modeling. According to the robot motion control method, S-shaped and linear acceleration and deceleration are adopted for accelerating and decelerating. The acceleration changes continuously, the time of acceleration is short, high motion precision and good speed smoothness are achieved. For interpolation trajectories, multiple spline interpolations are adopted as rough interpolations. Then digital integral method and equal time interpolations are adopted to perform fine interpolations for the interpolation trajectories. Due to the high V speed, the interpolation precision will not get poor.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a trajectory acceleration and deceleration interpolation algorithm for a robot control system. Background technique [0002] The motion control acceleration and deceleration modes are: [0003] 1. Linear acceleration and deceleration. Disadvantages: There is a sudden change in acceleration, and the speed curve is not smooth. [0004] 2. Acceleration and deceleration of trigonometric functions. Disadvantage: complex calculation. [0005] 3. Exponential acceleration and deceleration. Disadvantages: There is an impact on the machine tool at 2 points of start and stop. [0006] 4. S-shaped acceleration and deceleration. The acceleration at any point is continuously changing, so as to avoid the flexible impact of the speed, the smoothness of the speed is good, and the movement precision is high. Disadvantage: When the acceleration setting is the same as the linear acceleration sett...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/41
CPCG05B19/41
Inventor 孙碎可冉娟莲
Owner CHONGQING LINGLONG AUTOMATION EQUIP CO LTD
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