Point-to-point motion control method for robotic arm

Abstract

The invention belongs to the field of numerical control systems, and discloses a point-to-point motion control method for a mechanical arm. In the point-to-point motion control method for the mechanical arm in the prior art, lower speed is used for starting and stopping so as to restrain vibration and result in low motion efficiency. According to the starting and stopping precision requirements of the mechanical arm, the jerk ratio and speed ratio are determined, the maximum jerk J1 in the acceleration phase, the maximum jerk J2 in the deceleration phase, the maximum restricted acceleration A1 in the acceleration phase and the maximum restricted acceleration A2 in the deceleration phase are adjusted according to actual motion requirements, the method is applicable to various complicated motions, particularly the circumstance that end position state needs higher precision requirement, and optimal motion time can be guaranteed.

Description

technical field [0001] The invention relates to the field of numerical control systems, in particular to a point-to-point motion control method of a mechanical arm. Background technique [0002] With the rapid development of technology, the research of open numerical control system has become a hot spot in the research of numerical control circles in all countries in the world. However, the research in this field in our country is relatively backward, especially in the research of acceleration and deceleration control technology. big difference. In the control of mechanical motion, the characteristics of stability, no impact, smooth curve, and uniformity of the motion process have a great impact on the quality and precision of mechanical motion. Limited by factors such as the material and precision of mechanical parts, mechanical motion often The expected effect cannot be achieved, there may be large vibrations during the movement, the position accuracy at the end of the mo...

AI Technical Summary

Problems solved by technology

But the symmetrical point-to-point motion method, but if the jerk is too large, the moving components will vibrate obviously when starting and stopping, and if the jerk is too small, the processing efficiency cannot be guaranteed.

For the point-to-point motion planning of the mechanical arm, the vibration problem can be ignored during the start-up phase, but the impact of vibration must be considered during the stop phase. Simply adopting a smaller speed strategy to suppress vibration will inevitably lead to low processing efficiency.

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