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A trajectory tracking system and method for industrial robots with neural network iterative compensation

An industrial robot and neural network technology, which is applied in the field of industrial robot trajectory tracking system and motion trajectory precision improvement system, can solve the problems such as unable to adjust parameters, achieve the effects of increasing convergence speed, realizing high-precision motion control, and improving motion trajectory accuracy

Active Publication Date: 2022-02-01
ZHEJIANG SCI-TECH UNIV
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the current industrial robots integrate basic motor PID control, but these PID controls have the disadvantage that the parameters cannot be adjusted after the parameters are given when the robot trajectory is tracked.

Method used

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  • A trajectory tracking system and method for industrial robots with neural network iterative compensation
  • A trajectory tracking system and method for industrial robots with neural network iterative compensation
  • A trajectory tracking system and method for industrial robots with neural network iterative compensation

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Embodiment Construction

[0067] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0068] Embodiments of the present invention are as follows:

[0069] The specific implementation system is as figure 1 As shown, it includes industrial robot 2, measuring device 3 and track tracking system 1, track tracking system 1 is connected with industrial robot 2 and measuring device 3 respectively, industrial robot 2 is connected with measuring device 3, industrial robot 2, measuring device 3 and track The tracking system 1 jointly constructs a closed-loop industrial robot motion trajectory tracking system; the end flange of the industrial robot 2 is equipped with a moving target ball matched with the measuring equipment.

[0070] Trajectory tracking system 1 includes trajectory planning module 4, inverse solution compensation module 5, neural network PID module 8, robot input interface 11, robot output interface 12, measurement control modul...

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Abstract

The invention discloses an industrial robot trajectory tracking system and method for neural network iterative compensation. The trajectory tracking system is connected with the industrial robot and the measuring equipment respectively, and the follow-up target ball matched with the measuring equipment is installed on the end flange of the industrial robot; the trajectory planning module passes through the inverse solution compensation module, the neural network PID module, the robot input interface and the industrial The input terminal of the robot is connected, the output terminal of the industrial robot is connected with the PID control module through the robot output interface; the trajectory planning module is connected with the error analysis module, the error analysis module is connected with the output terminal of the measurement equipment through the measurement output interface, and the measurement control module is measured The input interface is connected to the input terminal of the measuring device. The invention improves the inverse solution accuracy of the robot, reduces the influence of joint errors on the motion track accuracy, controls the robot to move according to the expected track through the robot input interface, and is suitable for welding, spraying, grinding and other occasions requiring high motion track accuracy.

Description

technical field [0001] The invention relates to a system and method for improving the motion trajectory accuracy in the technical field of robots, in particular to an industrial robot trajectory tracking system method with neural network iterative compensation. Background technique [0002] Trajectory tracking control of industrial robots refers to applying speed, acceleration and other drives to industrial robots after the desired trajectory is given, so as to control the end movement of the robot to accurately track the desired trajectory. Trajectory tracking of industrial robots is an important link to ensure that robots have high precision in industrial operations. The trajectory tracking of industrial robots roughly includes four parts: motion trajectory planning, inverse kinematics analysis, robot control and error measurement analysis, among which robot control is the core part of trajectory tracking. [0003] At present, the trajectory tracking control of robots is ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J11/00B23K37/02
CPCB25J9/161B25J9/1664B25J11/0065B25J11/0075B23K37/0252B23K37/0247
Inventor 张恩政陈本永王涛
Owner ZHEJIANG SCI-TECH UNIV
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