A method and system for obtaining the maximum speed of a robot based on a dynamic model
A dynamic model and maximum speed technology, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as reducing the working efficiency of robots
Inactive Publication Date: 2019-04-16
SHENZHEN INOVANCE TECH
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Problems solved by technology
However, the larger the working area, the smaller the corresponding maximum speed limit that can meet the normal operation of the entire working area, which will seriously reduce the working efficiency of the robot
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[0048] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.
[0049] refer to figure 1 , is a flow chart of the method for obtaining the maximum speed of a robot based on a dynamic model of the present invention.
[0050] The robot maximum speed acquisition method based on dynamic model of the present invention comprises the following steps:
[0051] S1. Establish a dynamic model between the robot's joint torque, velocity, and acceleration that does not contain explicit gravity, but only explicitly contains position-related inertial force, centrifugal force, and Coriolis force:
[0052]
[0053] Among them, τ a (t) represents the N×1 joint moment vector, B(q(t)) is the N×N inertia matrix, is the N×N Coriolis force and centrifugal force matrix, N is the number of robot joint...
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The invention provides a robot maximum speed obtaining method and system based on a dynamical model. The method comprises the following steps: S1) establishing the dynamical model (shown in the specification) between joint torque and speed as well as acceleration speed of a robot and not expressing gravity and only expressing inertia force, centrifugal force and coriolis force related to position; S2) according to the set position, speed and acceleration speed, calculating torque tauia(nT) of each joint in each sampling period, and calculating speed gain coefficient lambdai(nT) of each joint in each sampling period according to torque constraint range [tauimin, tauimax] of each joint torque; and S3) calculating the maximum speed of the robot according to the speed gain coefficient lambdai(nT) and the maximum permissive speed of a motor. Torque constraint of each joint torque is taken into consideration to allow the calculated maximum speed to be the maximum permissible velocity of the robot; the calculated maximum speed is only related to specific movement locus of the robot and has nothing to do with the previous working area, and utilization efficiency of the robot is improved; and furthermore, maximum permissible velocity of each position point can be calculated.
Description
technical field [0001] The invention relates to the field of robot control, in particular to a method and system for obtaining the maximum speed of a robot based on a dynamics model. Background technique [0002] When the industrial robot is planning the trajectory, in order to maximize the working efficiency of the robot, it is necessary to determine the maximum operating speed limit of the robot. At present, there are two main restrictions on the maximum operating speed of the robot, namely, the maximum speed limit of the robot joints and the maximum speed limit of the robot end. The maximum joint speed limit is mainly based on the maximum joint speed, or the maximum motor speed limit under the condition of satisfying the output torque is determined according to the motor speed torque curve. The maximum speed limit at the end of the robot is mainly based on the maximum speed in the typical working range of the robot. [0003] Regarding the maximum joint speed limit, sinc...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杨磊屈云飞
Owner SHENZHEN INOVANCE TECH