A synchronization error compensation method for motion control of two-axis linkage manipulator

Abstract

A synchronization error compensation method for motion controlling of a two-axis linked mechanical arm comprises the following steps of 1), establishing a speed table based on frequency, a step length table based on pulse number, and an acceleration table based on step length according to an S-curve acceleration / deceleration algorithm and performance of a motor, performing speed programming for obtaining an initial speed, a final speed and a uniform speed, and furthermore calculating an acceleration length, a deceleration length and a uniform speed length; 2), performing synchronization interpolation in a motion process, calculating the speed of each interpolation period and the number of to-be-transmitted pulses of an X-axis and a Y-axis; 3), performing synchronization error feedback compensation by means of a server coder; and 4), in the motion process, adding the number of pulses which are transmitted in each interpolation period of the X-axis for determining whether the mechanical arm moves to a terminal point. The synchronization error compensation method for motion controlling of the two-axis linked mechanical arm realizes better synchronization performance and higher precision in two-axis linking of the mechanical arm.

Description

technical field [0001] The invention belongs to the technical field of motion control, in particular to a synchronization error compensation method for motion control of a two-axis linkage mechanical arm. Background technique [0002] At present, with the rapid development of science and technology, mechanical arms are widely used in various manufacturing industries, which makes the degree of industrial automation continue to increase. Although the shapes, structures and functions of various robotic arms are different, they all have one thing in common, that is, they must move to a point precisely along a certain trajectory. There are many low-end manipulator controllers and servos in the market that use open-loop control, and do not use the pulses fed back by the servo. If closed-loop control is adopted between the controller and the servo, the movement of the manipulator can be controlled The synchronization error generated during the process is compensated in real time, ...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the deficiencies of the existing two-axis linkage low-end controllers such as low positioning accuracy and poor synchronization of the two axes during the movement process, the present invention proposes a synchronization error compensation method for the motion control of the two-axis linkage manipulator, which mainly solves the problem of The rounding error in the calculation and the hardware delay and mechanical response delay error realize the two-axis linkage of the manipulator with high precision and good synchronization.

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