Control method for dispersion S-shaped curve speed of mechanical arm

A speed control and manipulator technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of poor smooth speed control and poor synchronization, and achieve the effect of smooth speed control, precise speed synchronization, and reduction of calculation errors.

Active Publication Date: 2017-07-14
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0004] In order to overcome the shortcomings of the existing manipulator speed control mode, such as the poor smooth control of the speed in the single-axis manual operation mode and the poor synchronization of the two-axis linkage speed control, the present invention proposes a discrete S-cu...

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  • Control method for dispersion S-shaped curve speed of mechanical arm
  • Control method for dispersion S-shaped curve speed of mechanical arm
  • Control method for dispersion S-shaped curve speed of mechanical arm

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Embodiment Construction

[0024] Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0025] refer to Figure 1 ~ Figure 3 , a discrete S-curve speed control method of a manipulator, said method comprising the following steps:

[0026] 1) Divide the running speed of the manipulator into several speed segments, and determine the minimum speed value of the current speed segment Maximum speed value Minimum acceleration maximum acceleration and jerk J P ;

[0027] The operating speed range of the manipulator is V min ~V max , the corresponding controller can adjust the speed range from 1% to 100%. Divide the speed into 10 sections: 1%~10, 11%~20%, ..., 81%~90%, 91%~100%, then the minimum speed value of each section Maximum speed value Corresponding range: 1%~10V max , 11%~20%V max ,...,81%~90%V max ,91%~100%V max , figure 1 Set the minimum speed value of the current speed segment in The maximum speed is Then, S-shaped...

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Abstract

A control method for the dispersion S-shaped curve speed of a mechanical arm includes the following steps that firstly, the operation speed of the mechanical arm is segmented into multiple speed sections, and the minimum speed value (shown in the specifications), the maximum speed value (shown in the specifications), the minimum acceleration (shown in the specifications), the maximum acceleration (shown in the specifications) and the jerk (shown in the specifications) of the current speed section are determined; secondly, the mechanical arm modifies the maximum speed value in the practical control process with the time period T as the speed planned period; and thirdly, speed control is divided into the acceleration stage, the constant speed stage and the speed reduction stage, real-time speed planning is conducted, the mechanical arm is accelerated in an S-shaped curve manner with the minimum speed (shown in the specifications) as the initial speed, and when the system position pulse sending time t is larger than or equal to the speed planned period T, in other words, t is larger than or equal to T, one time of speed planning operation is conducted. By means of the control method, stability of movement is effectively improved; and meanwhile, in two-axis synchronous movement control, the speed synchronization error can be compensated for in real time, and the control precision can be effectively improved.

Description

technical field [0001] The invention relates to a speed control method of a manipulator, in particular to a discrete S-curve speed control method used in manipulator control, and belongs to the field of motion control. Background technique [0002] China is a big manufacturing country. With the decline of the demographic dividend, the traditional labor-intensive production model is difficult to sustain. It is imperative to replace labor with machines. The upgrading and transformation of enterprises to automated production has become the main direction of development. "Machine substitution" in China's manufacturing industry is gradually being implemented. , has achieved certain results. As an important branch of industrial robots, the manipulator is one of the equipment that is in great demand in the process of machine replacement and upgrading. Domestic small and medium-sized enterprises have a strong demand for mid-to-low-end manipulators. Cartesian coordinate manipulators...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1651B25J9/1653B25J9/1664
Inventor 吴祥董辉俞立
Owner ZHEJIANG UNIV OF TECH
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