Industrial mechanical arm execution end track control method

A technology of industrial machinery and trajectory control, applied in the direction of manipulator, program control manipulator, program control, etc., can solve the problems of motion trajectory jitter of industrial manipulator, mechanical wear of execution parts, failure of high-frequency dynamic response, etc., so as to reduce the dynamic effect. , stable motion, strong real-time effect

Active Publication Date: 2017-11-28
HANGZHOU DIANZI UNIV
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AI Technical Summary

Problems solved by technology

[0003] Discontinuous movement and frequent switching actions of the control servo may cause jitter in the motion track of the actuator of the industrial robot arm. This jitter may cause mechanical wear of the actuator and failure of high-frequency dynamic response
At present, the control strategy of most ind

Method used

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  • Industrial mechanical arm execution end track control method
  • Industrial mechanical arm execution end track control method
  • Industrial mechanical arm execution end track control method

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Embodiment Construction

[0033] Such as figure 1 As shown, the trajectory control method of the execution end of the industrial robot arm provided by this embodiment begins with step S1, obtaining the mechanical structure parameters of the execution end of the industrial robot arm, determining the Jacobian matrix and initial gridding accuracy ε according to the mechanical structure parameters. In this embodiment, the mechanical structural parameters of the executing end of the industrial robot arm include degrees of freedom, joint rotation angles, and arm length of the executing end of the industrial robot arm. However, the present invention does not make any limitation thereto. The Jacobian matrix determined according to the mechanical structure parameters is as follows:

[0034]

[0035] where q={q 1 ,q 2 ,...,q i} is the joint space angle variable, (x, y, z) is the execution end coordinates, (ω x ,ω y ,ω z ) is the rotation angle of the execution end.

[0036] Step S2. Determine the moti...

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Abstract

The invention provides an industrial mechanical arm execution end track control method. The method comprises the steps of (1) acquiring mechanical structure parameters of an industrial mechanical arm execution end, determining a jacobian matrix according to the mechanical structure parameters and initializing the gridding precision epsilon; (2) determining the motion track of the industrial mechanical arm execution end according to the machining requirements; (3) calculating the reference location variable (shown as the formula) of an operating space according to the jacobian matrix at the moment k+1; (4) conducting quadratic optimization approximation constraint on an objective function with the reference location variable (shown as the formula) of the operating space at the moment k+1, and obtaining the actual position variable Xk+1 of the operating space at the moment k+1 and the input control quantity uk of a joint space at the moment k; and (5) enabling the industrial mechanical arm execution end to conduct track motion according to the actual position variable Xk+1 of the operating space at the moment k+1 and the input control quantity uk of a joint space at the moment k.

Description

technical field [0001] The invention relates to the field of industrial control, and in particular to a trajectory control method of an execution end of an industrial mechanical arm. Background technique [0002] Industrial robotic arms are widely used in welding, painting, stacking, and assembly, and have become an indispensable intelligent equipment in industrial production. Industrial robot is a very complicated multi-input multi-output nonlinear system with time-varying, strong coupling and nonlinear dynamic characteristics. The influence of uncertain factors such as load change and mechanical disturbance makes its control more complicated. The rapid development of Industry 4.0 requires high-quality industrial robots to serve it. The control strategy for stability and efficiency has become a difficult point in the research of industrial robots. [0003] Discontinuous movement and frequent switching of control servos may cause the movement track of the industrial robot...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664G05B2219/40523
Inventor 吴占雄李忠伟曾毓杨宇翔高明煜何志伟黄继业
Owner HANGZHOU DIANZI UNIV
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