Multi-axis robot point-position synchronous control method and system based on s-curve acceleration and deceleration

A multi-axis robot and synchronous control technology, applied in the direction of digital control, electrical program control, etc., can solve problems such as lack of solutions, and achieve the effects of strict consistency of running time, smooth operation, and continuous acceleration

Active Publication Date: 2019-10-01
山东易码智能科技股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

To sum up, there is still a lack of effective solutions to the problem of how to efficiently and accurately realize the synchronous control of robot points in existing technologies

Method used

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  • Multi-axis robot point-position synchronous control method and system based on s-curve acceleration and deceleration
  • Multi-axis robot point-position synchronous control method and system based on s-curve acceleration and deceleration
  • Multi-axis robot point-position synchronous control method and system based on s-curve acceleration and deceleration

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Abstract

The invention discloses a multi-axis robot point position synchronous control method and system based on S curve acceleration and deceleration. An angle difference of each joint axis between two pointpositions of a multi-axis robot is calculated; under the condition of ensuring a preset movement characteristic of each axis to be maximum, speed planning is carried out on each joint axis by using the S curve acceleration and deceleration, movement time of each axis is obtained, the axis with the longest movement time is taken as a reference, and periodic interpolation displacements of other joints are calculated through time ratios of other joints to the reference, so that synchronous control is realized. According to the synchronous control method and system, the precision of the robot point position synchronous control is improved; the speed and the acceleration of the robot are ensured to be continuous; and the calculation amount is reduced.

Description

technical field The invention relates to the technical field of robot control, in particular to a multi-axis robot point-position synchronous control method and system based on S-curve acceleration and deceleration. Background technique Robot point-to-point control is divided into synchronous control and asynchronous control. Asynchronous point-to-point control means that the time for each joint axis of the robot to reach the target joint angle is different due to the difference in motion angle. In the case of different running angles, the running time is still consistent, which can make the end effector of the robot more stable and work more efficient. Among the existing methods, the Chinese patent document, application number 201210507592.7, the patent name is "A method and device for realizing synchronous point-to-point PTP movement in a robot", which discloses a robot with the longest running time as the reference axis , use the displacement ratio to determine the spee...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/414
Inventor 张承瑞倪鹤鹏姬帅王公成
Owner 山东易码智能科技股份有限公司
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