Trajectory tracking control methods and trajectory tracking systems

A control method and trajectory tracking technology, applied in general control systems, control/regulation systems, digital control, etc., can solve problems such as no trajectory tracking system, large trajectory tracking error, and inability to complete the trajectory tracking purpose
CN110456729AActive Publication Date: 2019-11-15SUZHOU RUINIU ROBOT TECH CO LTD
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
SUZHOU RUINIU ROBOT TECH CO LTD
Publication Date
2019-11-15

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Abstract

The invention discloses four trajectory tracking control methods and corresponding trajectory tracking systems. The four trajectory tracking control methods are consistent in basic ideas. Concretely,trajectory information which is described by a sensor coordinate system and obtained by the sensor is fixed, namely, the information is transformed to the form that is suitable for integrated description of the coordinate system of the trajectory information for marking, the real trajectory is presented gradually, basis is provided for subsequent target resolution, an ideal state that should be presented by a tool at present time or state that needs to be achieved in next correction time after correction of present time is found according to a target, and the trajectory of the tool is corrected by driving an executor according to the above information. Thus, errors caused by advancing of detection points are overcome, independent operation independent demonstration information is achieved,the positional error as well as the attitude error of the tool can be corrected, and a trajectory tracking effect is good.
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Description

technical field

[0001] The invention relates to the technical field of trajectory automatic tracking, in particular to a trajectory tracking control method in which a sensor is driven by a sensor branch chain and a tool is driven by a tool branch chain, 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 task trajectory predetermined by means of teaching information...

Claims

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