High-precision control interpolation algorithm

Abstract

The invention discloses an high-precision control interpolation algorithm, and the algorithm comprises the steps: 1, enabling a target trajectory to be mapped to each axis, selecting an axis with thelongest displacement as a main axis, and setting parameters; 2, reading a discretization speed plan data set of the main axis, judging a long-axis mode, entering a corresponding processing mode for processing; 3, performing judgment according to step 2, performing the interpolation according to speed planning of the main axis and a discretization segment if it is fine interpolation, and performingthe following interpolation of a slave axis according to a function relation; calculating the segment displacement of the slave axis according to a running segment of the main axis and a to-be-run segment this time via a main-slave function relation if it is the point control; 4, comparing the target displacement of the main axis and the driven axis with the actual shifted displacement to obtainthe actual output displacement of the main and slave axes of the last segment, and ending the interpolation. The algorithm combines a point-by-point comparison method with the minimum deviation, and uses the main-slave algorithm, thereby improving the interpolation precision and speed and reducing the design difficulty.

Description

technical field [0001] The invention relates to the technical field of robots and numerical control equipment, in particular to an interpolation algorithm with speed planning and high-precision control. Background technique [0002] Real-time interpolation of industrial robots is one of the core technologies of industrial robot movement. The position control of industrial robots usually adopts the method of teaching and reproduction, that is, let the robot remember the previously taught position points, and then repeat these position points. Therefore, The more position points taught, the more precise the robot moves, but the lower the efficiency. To solve this problem, a real-time interpolation method for industrial robots is introduced. At present, real-time interpolation methods for industrial robots include spatial linear interpolation, plane circular interpolation, and spatial circular interpolation. Impact. Industrial robots usually require multi-axis, multi-joint l...

AI Technical Summary

Problems solved by technology

Industrial robots usually require multi-axis and multi-joint linkage, and multi-axis and multi-joint linkage algorithms involve multi-coordinate axis systems, which belong to the high-tech category, and the algorithm is very complicated

When the existing linear interpolation algorithm involves linkage, the processing of each axis must be considered, especially the multi-axis strokes are different, and the acceleration and deceleration of each planning is cumbersome, and the speed between the axes is difficult to coordinate and the accuracy is not high.

Moreover, there are not many domestic studies on how to establish a multi-axis system. Due to the complexity of the algorithm, it is difficult to apply it to the actual development of industrial robots, and the algorithm has low efficiency and poor accuracy.

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