High-precision positioning motion planning algorithm based on damping attenuation

Abstract

The invention discloses a high-precision positioning motion planning algorithm based on damping attenuation. The high-precision positioning motion planning algorithm comprises the steps of: S1, parameterizing a motion planning curve, and acquiring acceleration curve intervals corresponding to intervals with jerk not equal to 0 in the motion planning curve; S2, extracting acceleration input signals corresponding to the acceleration curve intervals in the step S1; S3, acquiring amplitude values in the time domain of displacement output response corresponding to the acceleration input signals in the step S2 through a transfer function of a motion system; S4, establishing an optimization model; S5, and acquiring an optimal motion planning curve according to the optimal value of motion planning curve parameters obtained in the step S4. The high-precision positioning motion planning algorithm can be used for processing acceleration variation signals in a motion constraint function independently, utilizing the superposition property of a linear system to obtain the amplitude values of displacement time domain response corresponding to the acceleration input signals, regarding a sum of absolute values of the amplitude values after damping attenuation as a constraint condition and reducing calculation workload during the optimization analysis process, and can be effectively applied to the S-shape motion planning curve.

Description

technical field [0001] The invention relates to the research field of high-speed and high-precision motion control, in particular to a high-precision positioning motion planning algorithm based on damping attenuation. Background technique [0002] High-speed and high-precision motion control is a research hotspot in modern mechanical engineering technology, which has an important impact on improving the work efficiency and processing quality of mechanical equipment. High-speed and high-precision motion control technology is widely used in many fields such as CNC machine tools and industrial robots. Symmetrical S-shaped motion curve planning is widely used in the field of motion control. The symmetrical S-shaped motion curve planning improves the execution speed and reduces the residual vibration amplitude by smoothing the motion speed curve. The common S-type motion planning is mainly to ensure the geometric smoothness of the motion acceleration curve for motion planning a...

AI Technical Summary

Problems solved by technology

The main disadvantage of the method described in the above literature is that the influence of system structural damping is not fully considered in the optimization model

The main problems of the method described in the above literature are: (1) only a certain type of asymmetric S-curve motion planning is considered; (2) the method described is based on computer simulation, and the amount of calculation is relatively large

The main disadvantages of the above-mentioned documents are: more computer simulation steps are required, the calculation amount is larger, and it is not convenient to implement on the embedded motion controller.

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