Self-adaptive speed planning method and system

A speed planning and self-adaptive technology, applied in general control systems, control/regulation systems, instruments, etc., can solve the problem of not being able to exert the actual movement ability of the motion platform, and achieve the effect of improving efficiency

Active Publication Date: 2018-09-18
汇川技术(东莞)有限公司
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Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide an adaptive speed planning method and system for the problem tha

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  • Self-adaptive speed planning method and system

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Embodiment Construction

[0044] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0045] The adaptive speed planning method of the present invention is executed by a controller that controls the operation of a motion platform (such as an industrial robot, a machine tool, or a multi-axis linkage mechanical device, and an industrial robot is used as an example below). When the motion platform is running, smooth speed is required. Instantiated as acceleration continuous and jerk bounded.

[0046] Such as figure 1 As shown, the adaptive speed planning method of the present invention comprises the following steps:

[0047] Step S1: Create a velocity constraint curve according to th...

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Abstract

The invention provides a self-adaptive speed planning method and a self-adaptive speed planning system. The self-adaptive speed planning method comprises the steps of: creating a speed constraint curve according to a constraint condition of a motion platform, wherein the speed constraint curve comprises a constraint speed at each position in a motion path of the motion platform; determining head and tail end point speeds of each section in the speed constraint curve according to motion parameters; and generating a speed planning curve according to the head and tail end point speeds of each section, the motion parameters and the speed constraint curve, wherein the speed planning curve comprises interpolation data of each periodic time node in an operating path of the motion platform. The self-adaptive speed planning method and the self-adaptive speed planning system adjust a feed speed in a self-adaptive manner according to the capability of the motion platform, maximize the actual motion capability of the motion platform, and can greatly improve the efficiency of the motion platform.

Description

technical field [0001] The invention relates to the field of motion control, and more specifically, to an adaptive speed planning method and system. Background technique [0002] Multi-axis motion platforms such as robots or machine tools have high requirements for motion efficiency and motion stability, which requires the multi-axis motion platform to maximize its own motion capabilities while avoiding oscillations and shocks caused by uneven speed planning , accuracy degradation and other issues. [0003] At present, the commonly used speed planning methods include trapezoidal programming, sine-cosine programming, and S-shaped programming. These methods plan according to some or all of the conditions of path length, starting speed, starting acceleration, ending speed, ending acceleration, maximum speed, and maximum acceleration. These speed planning methods can realize the softness and smoothness of the planning curve, divide the whole movement into acceleration, uniform...

Claims

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Application Information

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IPC IPC(8): G05B19/41G05B19/416
CPCG05B19/41G05B19/4163G05B2219/43006G05B2219/43162
Inventor 许长华杨磊屈云飞
Owner 汇川技术(东莞)有限公司
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