A robot follow-up control system and method in a position synchronization control mode

Abstract

The invention discloses a robot follow-up control system and method under a position synchronous control mode, comprising a controller master station, a robot body and several servo driver slave stations; the controller master station is connected to all servo driver slave stations, and the servo driver The slave station is connected to the servo motor on the robot body; the controller master station runs the robot motion control algorithm, and has a communication interface for periodic synchronous position control with the servo drive slave station. The invention solves the adaptability of the robot to various possible input postures in the position control mode, reduces the risk of errors such as overload, overspeed and stalling of the servo motor, filters out the noise of the input signal, and can ensure that the robot is right Enter the tracking velocity for the pose data.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a robot follow-up control system and method in a position synchronous control mode. Background technique [0002] In recent years, with the rapid development of robot technology, the application of robots in industrial or civilian applications has become more and more extensive. However, the traditional robot control method often adopts the trajectory interpolation algorithm in the position synchronization mode. This algorithm has existed in the field of CNC machining for many years, and it is mainly used in the control of fixed trajectory, but it is not suitable for the tracking of high-speed changing trajectory. . There are also some control methods based on torque synchronous or speed synchronous mode, which can follow the target position, but these control modes are only suitable for following motion, and in the case of fixed trajectory control with high pr...

AI Technical Summary

Problems solved by technology

However, the traditional robot control method often adopts the trajectory interpolation algorithm in the position synchronization mode. This algorithm has existed in the field of CNC machining for many years, and it is mainly used in the control of fixed trajectory, but it is not suitable for the tracking of high-speed changing trajectory.

There are also some control methods based on torque synchronous or speed synchronous mode, which can follow the target position, but these control modes are only suitable for following motion, and in the case of fixed trajectory control with high precision requirements, the switching of control modes will cause operational problems. Therefore, it is of great practical significance to develop a follow-up control method under the position synchronization control of the robot.

[0003] Due to the complexity of the control scheme of most existing robot following control algorithms, it is often difficult for operators to set the optimal control parameters, resulting in overshoot of the system leading to servo alarms or over damping resulting in too slow following speed and failure to achieve high speed. High-precision fixed position interpolation movement, low safety and poor reliability

At present, domestic research on robot simulation motion control platform is still in the exploration of theory and method, there is no standard and perfect solution, especially how to improve the speed and accuracy of tracking control is the most controversial

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