Method for adjusting running speed of robot in real time

Abstract

The invention discloses a method for adjusting running speed of a robot in real time. Movement elements are analyzed through a demonstrating track, track planning and interpolation are carried out, and an interpolation command is corrected by inputted speed adjusting parameters to achieve the purpose of adjusting the speed in real time. According to the control command corrected by the method, a curve can be changed smoothly and continuously, so that stress on a mechanical system is not impacted or changed suddenly, a control effect is soft, and loss on moving parts is reduced. Meanwhile, the method is simple in control logic and small in calculated amount, and meets control requirements on instantaneity of a robot control system. When the speed is adjusted, only a standard process requires to be demonstrated according to actual working conditions, then a monitoring terminal is debugged to transmit different speed adjusting commands, a robot control system responds the received speed adjusting parameters so that the effect of changing the running speed of the robot can be achieved, work complexity of operators is greatly simplified, the field processing efficiency is improved, and standardized operation of the robot is facilitated.

Description

technical field [0001] The invention relates to a robot motion control technology, in particular to a method for real-time adjustment of the running speed of a robot. Background technique [0002] At present, the application of robots in the industrial field is becoming more and more mature, and their operating capabilities are becoming more and more extensive. They can perform various operations such as welding, assembly, spraying, material handling, and laser processing. With the development of science and technology, the operation of industrial robots has become more and more effective. More and more operations in the industry have been widely applied to robot automation. The use of industrial robots can effectively reduce labor costs and improve work efficiency and product quality. [0003] When the robot performs automatic operations on the workstation, the operator first needs to debug the monitoring terminal according to the specific operation requirements, program th...

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Problems solved by technology

The method in this patent has many branches in the control process and complex calculation logic, and this patent is mainly aimed at the feed speed adjustment in the field of CNC machine tool processing, which is not well applicable to the speed adjustment in the field of robot control

[0005] In the current robot control, the operation of modifying the running speed of the processing trajectory in real time is complicated and cumbersome, and the workload of the on-site operators is heavy, and it is easy to make mistakes when modifying the instructions multiple times; in addition, in the existing robot control technical data, adjusting the speed There are few effective ways

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