Robot motion control method, servo controller and readable storage medium

A motion control, robot technology, applied in the field of robots, can solve problems such as large speed jitter

Active Publication Date: 2019-03-26
SHANGHAI STEP ELECTRIC +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The inventors of the present application have found that there are at least the following problems in the prior art: when running at low speed, the motor stops and starts, and the speed jitters greatly

Method used

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  • Robot motion control method, servo controller and readable storage medium
  • Robot motion control method, servo controller and readable storage medium
  • Robot motion control method, servo controller and readable storage medium

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Embodiment Construction

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, various implementation modes of the present invention will be described in detail below in conjunction with the accompanying drawings. However, those of ordinary skill in the art can understand that, in each implementation manner of the present invention, many technical details are provided for readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following implementation modes, the technical solution claimed in this application can also be realized.

[0033] The first embodiment of the present invention relates to a motion control method of a robot. The position command in this embodiment is a pulse sequence command, specifically, it may be a rising edge or a falling edge of a pulse. Its process is as follows Figure 4 As shown, the details are as follo...

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Abstract

The embodiment of the invention relates to the field of robots, and discloses a robot motion control method, a servo controller and a readable storage medium. The robot motion control method providedby the invention comprises the steps that the reception time of a historical position command is acquired; the reception time of a next position command is estimated according to the reception time ofthe historical position command; and before the estimated reception time of the next position command, the motor motion is controlled several times, and the sum of the motion amounts specified by multiple control is related to the unit motion amount specified by the position commands; and the motor motion is smooth and coherent in low speed operation, and jitter is minimized.

Description

technical field [0001] The embodiments of the present invention relate to the field of robots, and in particular to the motion control technology of robots. Background technique [0002] The main task of the industrial robot control system is to control the movement position, posture and trajectory of the robot in the work space, the operation sequence and the time of the action. It also has the characteristics of simple programming, software menu operation, friendly human-computer interaction interface, online operation prompts and convenient use. [0003] The degree of freedom of a robot depends on the number of movable joints. The more joints, the higher the degree of freedom and the better the displacement accuracy. However, the number of servo motors required is relatively large; in other words, the more precise the industrial For a multi-axis robot, the more servo motors there are, generally each multi-axis robot is controlled by a set of control systems, which also m...

Claims

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Application Information

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IPC IPC(8): G05D3/12H02P23/03H02P23/04
CPCH02P23/03H02P23/04G05D3/12
Inventor 李虎修丁信忠刘虎刘康
Owner SHANGHAI STEP ELECTRIC
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