A Two-axis Trajectory Interpolation Algorithm for Manipulator

An interpolation algorithm and two-axis trajectory technology, applied in the field of manipulators, can solve problems such as high cost, poor operation flexibility and versatility, and difficult development, and achieve the effects of sensitive control response, low program maintenance cost, and high production efficiency

Active Publication Date: 2019-04-05
苏州朗信智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The defects in the control of existing manipulators are: the manipulator generally uses a single-chip microcomputer as the main control unit. Because the programming work of the single-chip microcomputer is relatively complicated, its internal program is simple to solidify. Once a fault occurs or the task of the manipulator needs to be modified, the Professionals need to rewrite the internal program of the single-chip microcomputer, and the operation flexibility and versatility of using the single-chip microcomputer to control the manipulator are poor, the cost is high, the development is difficult, and the control accuracy and efficiency are not high

Method used

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  • A Two-axis Trajectory Interpolation Algorithm for Manipulator
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  • A Two-axis Trajectory Interpolation Algorithm for Manipulator

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Embodiment Construction

[0018] figure 1 In the coordinate positioning diagram of the manipulator, figure (1) is the total space coordinate system, and the origin of the coordinate system is established at the center of the limit position at the left end of the platform guide rail, where h is the vertical distance from the middle plane of the guide rail to the arm L1 of the manipulator (since h is unknown, the formula h is temporarily taken as 0). It can be seen from the figure that the coordinates of point C are (x 1 + lx, ly, lz).

[0019] In Figure (2), the origin of the coordinate system is translated to O', we know that O, A, B, and C are in the same plane, then lx' can be solved in the x'oz plane coordinate system, as shown in Figure (3), we can got lx'

[0020] l x '=a+AB·cosθ 1 -BC·cos(θ 1 -θ 2 )

[0021] Also available lz

[0022] l 2 ′=BC·sin(θ 1 +θ 2 )-AB·sinθ 1

[0023] Similarly, from Figure (4) can be solved lx, ly

[0024] l x = l x ′·cosθ 3 =(a+AB·cosθ 1 -BC·cos(θ 1...

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Abstract

The invention discloses a manipulator double shaft track interpolation algorithm. The manipulator double shaft track interpolation algorithm is used for controlling a manipulator to move according to a predetermined track. The manipulator double shaft track interpolation algorithm is characterized by obtaining a flow equation for a big arm oil cylinder and a small arm oil cylinder of the manipulator through a double shaft interpolation algorithm; and realizing movement of the manipulator by embedding the flow equation into a computer control program and adjusting an electric-hydraulic proportional flow direction valve. The manipulator double shaft track interpolation algorithm has the advantages of being flexible in control, being high in adaptability, being high in control accuracy and being high in stability, and can significantly improve the operational efficiency and reduced the occurrence probability of human casualty accidents.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to a two-axis trajectory interpolation algorithm for a manipulator. Background technique [0002] As a machine specially equipped for drilling operations, the manipulator can reduce heavy physical labor, improve working conditions and safe production, and can move according to the predetermined trajectory through automatic control, which plays an extremely important role in improving the efficiency of drilling operations and enhancing the competitiveness of enterprises. effect. The defects in the control of existing manipulators are: the manipulator generally uses a single-chip microcomputer as the main control unit. Because the programming work of the single-chip microcomputer is relatively complicated, its internal program is simple to solidify. Once a fault occurs or the task of the manipulator needs to be modified, the Professionals need to rewrite the internal program of ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/41
Inventor 钟海胜秦嗣峰曹旭东赵德华
Owner 苏州朗信智能科技有限公司
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