Method, device, equipment and storage medium for planning motion trajectory of motor

Abstract

The present application provides a planning method, device, device and storage medium for a motion trajectory of a motor. The method includes: obtaining motion parameters used for motion trajectory planning; judging whether the motion trajectory can be planned in a three-stage planning manner according to the motion parameters; If so, according to the motion parameters, use the three-stage planning method for motion trajectory planning to obtain the first trajectory array; otherwise, according to the motion parameters, use the two-stage planning method for motion trajectory planning to obtain the second trajectory array. In the process of planning the motion trajectory of the motor, by judging the parameters input by the developer, it is automatically judged to use the two-stage or three-stage planning method for motion trajectory planning, which reduces the requirements for designers and simplifies the debugging process.

Description

technical field [0001] The embodiments of the present application relate to the field of mechanical automation, and in particular, to a planning method, device, equipment and storage medium for a motion trajectory of a motor. Background technique [0002] Servo drives (servo drives), also known as "servo controllers" and "servo amplifiers", are a kind of controller used to control servo motors. Its function is similar to that of frequency converters on ordinary AC motors. It is mainly used in high-precision positioning systems. Servo drives are an important part of modern motion control and are widely used in automation equipment such as industrial robots and CNC machining centers. [0003] Contour position mode is a basic working mode in the servo driver. The contour position of the S-shaped curve has the characteristics of less mechanical impact, small positioning vibration of the mechanical structure and continuous acceleration. It is one of the necessary important funct...

AI Technical Summary

Problems solved by technology

[0005] The embodiment of the present application provides a motor trajectory planning method, device, equipment and storage medium, which are used to solve the parameter setting in the above solution, especially the S tag When the setting does not meet the 7-segment or 3-segment curve planning, the driver will return an error in parameter setting and refuse to execute the motion command, which requires a high level of theoretical calculation for programmers, and the debugging process is also cumbersome.

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