Precise control method of linear motion module

Abstract

The invention discloses a precise control method of a linear motion module. A motion control method based on S-shaped speed curve planning and synchronous planning of parabolic functions is adopted to precisely control the linear motion module; an acceleration maximum value and a speed maximum value of each motion shaft of a truss manipulator are input; an initial pose and a target pose of the truss manipulator are given to obtain a displacement variation of each motion shaft of the manipulator; time function nodes of each motion shaft are calculated; longest time nodes are selected as unified planning nodes to calculate actual maximum speed and maximum acceleration of each motion shaft; displacement, speed and acceleration functions at an acceleration phase, a deceleration phase and a constant-speed phase are respectively calculated according to the actual maximum speed and the maximum acceleration of each motion shaft; and the displacement of each motion shaft or discrete points on speed curves are output. The method can prevent the manipulator vibration or noise problem caused by sudden change of the speed or the acceleration, guarantees the motor motion precision, and can control the motion trajectory.

Description

technical field [0001] The invention belongs to the technical field of mechanical automation, and in particular relates to a precise control method for a linear motion module. Background technique [0002] In the automatic manufacturing system, the automatic execution unit is mainly used to carry materials, workpieces and tools, and can complete various tasks through different programming. At present, the commonly used automatic execution units mainly include two types, namely industrial robots and truss manipulators. Compared with industrial robots, truss manipulators are fast, precise, and flexible in transportation, relatively simple in structure, easy to combine and expand, and low in manufacturing and maintenance costs. They have huge market prospects in the machine tool processing industry. The truss manipulator realizes the automatic loading and unloading of the workpiece by adjusting the workpiece pose or controlling the motion trajectory of the workpiece. Therefor...

AI Technical Summary

Problems solved by technology

Since the velocity curve of the trapezoidal function adopts constant acceleration, its acceleration has a sudden change at the start or end point, which will cause vibration and noise during the movement of the truss manipulator using this control method

Moreover, the speed and acceleration transition of this control method is not smooth, which will also reduce the motion accuracy of the truss manipulator. In addition, because this control method is to plan the trajectories of each movement axis of the truss manipulator separately, the manipulator cannot realize "simultaneous start and stop" "function, and cannot move according to the predetermined trajectory

Images