A motion control method and system for a manipulator with a link structure

Abstract

The invention discloses a motion control method and system for a manipulator with a connecting rod structure. The method includes: acquiring a plurality of trajectory points used to identify the spatial position of the manipulator, and the trajectory points include material grabbing points for identifying material grabbing positions, The discharge point used to identify the discharge position, and the transition point between the grasping point and the discharge point; generate a space trajectory curve; convert multiple space points on the space trajectory curve into corresponding motor angles , generate a cam curve based on the time axis; determine the motor parameters corresponding to the spatial points, and associate the corresponding motor parameters with the motor angles corresponding to the spatial points; according to the cam curve and the motor corresponding to the points on the cam curve parameters to control the rotation of the motor, thereby driving the movement of the manipulator. The invention enables the system to obtain motor parameters at a uniform motor angle during the running process, improves the smoothness of the movement of the manipulator, and improves the work efficiency at the same time.

Description

technical field [0001] The invention relates to the technical field related to manipulators, in particular to a motion control method and system for a manipulator with a link structure. Background technique [0002] The automatic stamping production line of the automobile factory generally includes 4-5 presses, and the loading and unloading between the presses is completed by the manipulator; the manipulator involved in this scheme is a connecting rod double-arm manipulator, which is used to complete the sheet material transfer in the X / Z plane; each set The manipulator includes a loading hand, a unloading hand and a conveying trolley. The main function is that the unloading hand at the previous station takes the stamping workpiece out of the press and puts it on the conveying trolley, and the conveying trolley runs to the upper After the material is positioned, the loading hand at this station takes the material from the trolley and sends it into the press. After the stampi...

AI Technical Summary

Problems solved by technology

[0006] Based on this, it is necessary to provide a motion control method and system for a manipulator with a link structure in view of the technical problem of low efficiency of the manipulator motion control method in the prior art

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