Robot motion control method based on electronic cam and control system

Abstract

The invention provides a robot motion control method based on an electronic cam and a control system. The method comprises the steps of obtaining data of a robot motion mechanism, and through kinematics analysis of the data, deducing a positive solution algorithm and an inverse solution algorithm of a tail end; obtaining real-time joint coordinate data, and calculating real-time Cartesian coordinates of the tail end with the positive solution algorithm; based on the Cartesian coordinate system, making spatial trajectory planning, and obtaining a space trajectory point set; working out a jointcoordinate system data set corresponding to the space trajectory point set with the inverse solution algorithm; through a point set and the joint coordinate system data set, determining a master and slave shaft relation of the electronic cam, and building an electronic cam curve; based on the electronic cam curve, controlling the spatial trajectory of the tail end; and according to the spatial trajectory, controlling a joint shaft of a joint to move. Robot non-linear motion control is converted into linear motion control, smooth connection between spatial trajectory points can be achieved, andequipment running smoothness and stability can be improved.

Description

technical field [0001] The invention relates to the technical field related to robot control, in particular to an electronic cam-based robot motion control method and control system. [0002] technical background [0003] Trajectory planning refers to the curved trajectory of the end of the robotic arm of the robot, and the curved profile of the displacement, velocity, and acceleration of the end of the robotic arm during motion. The quality of trajectory planning directly affects the work efficiency and motion stability of the robot. [0004] When the robot performs welding, cutting or grinding on the workpiece, the end of the robot is required to move in strict accordance with the planned space trajectory. At present, in the robot motion control, according to the given curve function, the known points on the planned space trajectory are based on Interpolation is carried out to determine the intermediate point and densify the data points. At present, the existing robots can...

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Problems solved by technology

[0004] When the robot performs welding, cutting or grinding on the workpiece, the end of the robot is required to move in strict accordance with the planned space trajectory. At present, in the robot motion control, according to the given curve function, the known points on the planned space trajectory are based on Interpolation is carried out to determine the intermedi

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