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A Synchronous Cross-Coupling Robot Profile Control Method

A contour control and cross-coupling technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as the inability to apply industrial robot systems, and achieve the effect of improving control effects, ensuring tracking accuracy, and reducing contour errors.

Active Publication Date: 2022-08-05
XIAN AERONAUTICAL POLYTECHNIC INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a synchronous cross-coupling robot contour control method, which solves the problem that the traditional cross-coupling control in the prior art cannot be applied to industrial robot systems

Method used

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  • A Synchronous Cross-Coupling Robot Profile Control Method
  • A Synchronous Cross-Coupling Robot Profile Control Method
  • A Synchronous Cross-Coupling Robot Profile Control Method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0095] The contour trajectory is an ellipse, the radius of the desired center contour trajectory is set to 8cm, and the initial position of the end effector is (0.02, 0.35). The equation is:

[0096]

[0097]The angular velocity ω of executing the circular trajectory is set at low speed and medium speed to conduct experiments respectively. First, set the low speed state of ω=0.02rad / s, and the obtained motion profile error changes and experimental data are as follows: Figure 2a , Figure 2b , as shown in Table 2:

[0098] Table 2 Experimental data of low-speed circular trajectory

[0099]

[0100] The comparative experimental results show that the contour error of the synchronous cross-coupling control is significantly reduced, the maximum contour error is reduced by 3.12 μm, and the root mean square value is reduced by 1.63 μm.

[0101] Then the tracking angular velocity is set to the medium speed, that is, ω=0.04rad / s, and the variation of the motion profile error ...

Embodiment 2

[0107] The contour trajectory is an ellipse, the long radius of the desired center contour trajectory is 8cm, the short radius is 4cm, and the initial position of the end effector is (0.02, 0.35), which effectively ensures the movement process of the system in the workspace. The specific trajectory The equation is:

[0108]

[0109] The variation of motion profile error and experimental data obtained by setting ω=0.02rad / s are as follows Figure 4a , Figure 4b and as shown in Table 4:

[0110] Table 4 Low-speed elliptical trajectory experimental data

[0111]

[0112] In the same way, the experimental results of the elliptical profile comparison show that compared with the position loop cross-coupling control, the maximum error of the profile using the synchronous cross-coupling control is reduced by 6.21 μm, and the root mean square value is reduced by 1.11 μm.

[0113] It can be concluded that for the elliptical contour with more complex shape, the synchronous cros...

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Abstract

The invention discloses a synchronous cross-coupling robot contour control method, comprising: acquiring a desired position x in a workspace d , y d , perform the kinematic inverse solution operation on it, and output the desired position θ in the joint space 1d , θ 2d ; Compare it with the actual joint space position θ 1a , θ 2a After the difference operation, output the x-axis tracking error E of the joint space 1 , joint space y-axis tracking error E 2 ;x-axis joint space tracking error E 1 , y-axis joint space tracking error E 2 After the PD controller operation, the motor is driven; at the same time, according to the x-axis joint space tracking error E 1 , y-axis joint space tracking error E 2 Calculate the contour error ε separately c , synchronization error ε s , the contour error ε c , synchronization error ε s After being calculated by the contour controller and the synchronous controller, respectively, the corresponding gains are compensated to the position loop of the workspace and the velocity loop of the joint space. It can further reduce the contour error, improve the control effect, and then ensure the tracking accuracy of the robot system.

Description

technical field [0001] The invention belongs to the technical field of robot control methods, and relates to a synchronous cross-coupling robot contour control method. Background technique [0002] With the rapid development of robot control technology and the improvement of robot functions, more and more robots are widely used in processing and manufacturing fields such as grinding and spraying. In this case, in addition to considering the original position tracking error, the design of the robot system controller must also take the contour error as an important performance index to measure the system, which determines that the contour error must be considered in the controller design. the size of. However, traditional contour control methods are generally suitable for orthogonal structure systems or CNC machine tool systems, while the research on contour control methods for industrial robot systems is very rare. In addition, the nonlinearity of the system kinematic relati...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1628
Inventor 王瑜瑜刘少军
Owner XIAN AERONAUTICAL POLYTECHNIC INST
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