Speed control algorithm for solving problem of shaking caused by mechanism gap

Abstract

The invention discloses a speed control algorithm for solving the problem of shaking caused by a mechanism gap, and relates to the technical field of robot control. The method comprises the followingsteps of S1, a mechanism starts to move at the second of t1 at a constant acceleration a1 from V0=0, wherein when the speed of the mechanism reaches Vt, the position of the mechanism reaches S1; S2, when the speed of the mechanism reaches Vt and the position of the mechanism reaches S1, the mechanism starts to perform uniform motion for the seconds of t2 at the speed Vt until the position of the mechanism reaches S2; S3, when the position reaches of the mechanism reaches S2, the mechanism starts to move at a constant deceleration speed a2 from VT for the seconds of t3, wherein when the speed of the mechanism reaches 0, the position of the mechanism just reaches S. According to the invention, the speed position curve of the mechanism is changed into three parts, namely constant-speed rise,constant-speed motion, and constant-speed decline. The problems that due to the fact that gear engagement of a mechanical body is not in place during start-up, the vibration caused by sudden change ofall shaft speeds can be effectively solved. The mechanical body is stably started, and the shaking of the mechanism is eliminated. The working precision is improved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a speed control algorithm for solving vibration caused by mechanism clearance. Background technique [0002] With the progress of the times and the development of science and technology, more and more machinery manufacturing and assembly industries need to use robots instead of manual operations to increase work efficiency to a higher level, so as to achieve the goal of reducing costs and improving quality. However, most of the domestic robot hardware production levels are uneven, and there may be situations where the meshing of mechanical parts is not in place, for example, the gears of each axis of the robot are not meshing in place. Moreover, when the current robot is started, the starting speed given by the controller has a short response time, which can be regarded as an instant increase of the speed to the target speed (the speed curve is close to a rectangle), and th...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a speed control algorithm that solves the vibration caused by the mechanism gap, and changes the speed and position curve into three parts: constant speed rise, constant speed movement, and constant speed fall, which can effectively solve the problem of mechanical body gear meshing not in place when starting. Vibration problems caused by defects and sudden changes in the speed of each axis have realized the smooth start of the mechanical body, eliminated mechanism vibration, and improved working accuracy

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