An interpolation method with high precision control

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 method with high-precision control with speed planning.Background technique[0002]Real-time interpolation of industrial robots is one of the core technologies of industrial robot motion. The position control of industrial robots usually adopts the method of teaching reproduction, that is, let the robot remember the previously taught position points, and then repeat these positions. Therefore, The more the teaching position points, the more precise the robot movement, but the lower the efficiency. In order to solve this problem, the real-time interpolation method of industrial robots is introduced. At present, the real-time interpolation methods of industrial robots include space linear interpolation, planar arc interpolation, and space arc interpolation. The pros and cons of the methods directly affect the execution accuracy and efficiency of ...

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 method involves linkage, the processing of each axis must be taken into account, especially the strokes of multiple axes are different, the acceleration and deceleration of each planning is cumbersome, 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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