Trajectory tracking control methods and trajectory tracking systems

Abstract

The invention discloses four trajectory tracking control methods and trajectory tracking systems corresponding to the trajectory tracking control methods. The basic ideas of the four trajectory tracking control methods are consistent, trajectory information which is obtained through a sensor and described through a variable sensor coordinate system is fixed firstly, that is, after detection, the information is converted to be suitable for being marked in a form of being described by the coordinate system for overall recording the trajectory information, a real trajectory is shown step by step,a basis is provided for the subsequent solution target, finally, according to the target, the ideal state which should be shown by a tool at the current moment is found, or the state about to be achieved when the correction moment of next time arrives after correction of the this time is completed is found, and then an executer is driven according to the above information to correct the trajectory of the tool. According to the four trajectory tracking control methods and the trajectory tracking systems corresponding to the trajectory tracking control methods, errors brought by detecting pointadvancing are overcome, the methods can be separated from teaching information to independently run, position deviation of the tool can be corrected, posture deviation of the tool can also be corrected, and the trajectory tracking effect is good.

Description

technical field [0001] The invention relates to the technical field of automatic trajectory tracking, in particular to a trajectory tracking control method and a trajectory tracking system for realizing the trajectory tracking control method. Background technique [0002] Welding, gluing, cutting and other operations are similar routine operations, and their common feature is to operate along a specific trajectory. If the specific trajectory position can be detected by sensors, the trajectory can be adjusted by robots and other actuators. Tracking to automate jobs. [0003] Advanced ones in existing trajectory tracking systems use sensors to track trajectories, for example, arc welding robot systems use structured light vision sensors to track trajectories. The actuator in the trajectory tracking system itself has a predetermined task trajectory through teaching information or planning, and the actuator with the tool can generate driving information according to the predete...

AI Technical Summary

Problems solved by technology

This method is based on the track deviation information detected by the sensor. If it is unbiased and not corrected, then even if there is no deviation in the current position of the tool, after advancing according to the predetermined task track, the tool position will also deviate at the next moment, so the whole process cannot be realized theoretically. Unbiased tracking can only reduce the deviation to no more than the new deviation caused by each step forward, so the purpose of trajectory tracking can be better achieved only when the radius of curvature of the trajectory is large or the fluctuation of the trajectory is small, but If the radius of curvature of the trajectory is small or the fluctuation of the trajectory is large, the trajectory tracking will produce a large trajectory tracking error, and even the purpose of trajectory tracking cannot be achieved.

At present, it is cumbersome to set up a tracking system, and for trajectories, especially space curve trajectories, there is no general trajectory tracking control method and a trajectory tracking system that implements the trajectory tracking control method.

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