Motion speed control method and system, host and storage medium
A technology of motion speed and control method, which is applied in the direction of program control of manipulators, manipulators, electric vehicles, etc., and can solve problems such as affecting service life and accelerated wear of manipulators
Active Publication Date: 2021-01-29
SHENZHEN HUACHENG IND CONTROL
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Problems solved by technology
However, the inventor believes that even if B-spline fitting is performed, there will still be changes in curvature on the B-spline. If reasonable acceleration and deceleration are not performed, it will cause accelerated wear of the manipulator and affect the service life.
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[0072] The following is attached Figure 1-12 , to further describe this application in detail.
[0073] Through action teaching, the manipulator can move according to a fixed program. Regardless of whether the motion trajectory is simple or complex, it is necessary to control the robot to complete the trajectory motion through linear interpolation, circular interpolation or joint interpolation. When driving the mechanical arm to move along a complex trajectory, if you simply enter the control points according to the shape of the trajectory, and control the actuator to move along the small line segment connected by the control points, when two adjacent straight lines or arcs make a transition, you need to add Deceleration, and there will be slight pauses, frequent acceleration and deceleration will prolong the working cycle, and the feeling of stuttering will increase with the increase of operating speed throughout the process, making it difficult to increase the speed to a f...
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The invention relates to a motion speed control method and system, a host and a storage medium. The method comprises the following steps that a plurality of adjacent threshold intervals are built, wherein threshold intervals correspond to operation speeds; a smooth fitting track is obtained and converted into an interpolation track; the fitting track is divided into a plurality of sections of ordered local curves; the average curvature radius of the current local curve and the next local curve of an executive component is calculated to obtain a corresponding threshold interval, and the runningspeed of the executive component in the current local curve and the next local curve to be the running speed corresponding to the corresponding threshold interval; and the relative magnitudes of thetwo speeds are compared, and the executive component is driven to smoothly transit between the two speeds at the junction of the current local curve and the next local curve. According to the invention, the executive component is made to slowly accelerate or decelerate on the smooth track so that the risk that the executive component is suddenly stressed, and abrasion is aggravated is reduced.
Description
technical field [0001] The present application relates to the field of automation control, in particular to a method, system, host and storage medium for controlling motion speed. Background technique [0002] In recent years, with the development of industrial automation, automation control has gradually become a new subject and has developed rapidly. Manipulator is an important means to increase labor productivity, improve working conditions, reduce labor intensity of workers and realize automation of industrial production. Both at home and abroad attach great importance to its application and development. Manipulators were first used in the automobile manufacturing industry and are often used for welding, painting, loading and unloading and handling. The manipulator extends and expands the functions of human hands, feet and brain. It can replace human beings in dangerous, harmful, toxic, low temperature and high heat and other harsh environments; replace human beings to ...
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IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/1664B25J9/1679B25J9/1602Y02T10/72
Inventor 梁旺石建军程国醒苗立晓唐亮万小兵
Owner SHENZHEN HUACHENG IND CONTROL