Robot track synchronous control method and computer readable storage medium

A synchronous control and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems such as poor synchronization of joints, approximately the same command response, and not exactly the same command follow, so as to ensure synchronization and improve trajectory accuracy. Effect

Active Publication Date: 2021-05-28
成都卡诺普机器人技术股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the position of the robot changes, the moments of inertia and friction of each axis of the robot change, and the above PID parameters cannot make the responses of each joint to the command approximately the same, so the synchronization of the robot position cannot be guaranteed.
[0004] That is to say, the above-mentioned three-l

Method used

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  • Robot track synchronous control method and computer readable storage medium
  • Robot track synchronous control method and computer readable storage medium
  • Robot track synchronous control method and computer readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0074] A robot trajectory synchronization control method, in this embodiment, specifically consists of two parts, an inner control loop and an outer control loop, specifically, including the following steps:

[0075] Step 1. Use the second-order system of the mass spring damping model to perform closed-loop control on the position and attitude of the robot end, and obtain the linear acceleration in Cartesian space and angular acceleration

[0076] Specifically include:

[0077] Step 1.1: If figure 1 As shown, according to the feedback angle q of each joint of the robot, the robot’s forward motion formula KIN(q) is used to calculate the feedback pose X of the robot end, as follows:

[0078] The kinematics model of the robot is established by the standard D-H method, and the D-H parameters of the robot are obtained: d, a, α. According to the coordinate transformation method, the homogeneous transformation matrix of the robot end coordinate system {n} in the robot polar coo...

Embodiment 2

[0125] This embodiment discloses a computer device, which may be a server, and the computer device includes a processor, a memory, a network interface, and a database connected through a system bus. Wherein, the processor of the computer device is used to provide calculation and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs and databases. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used to store the data involved in the robot trajectory synchronous control method. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, the robot trajectory synchronous control method is...

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Abstract

The invention discloses a robot track synchronous control method which comprises the following steps of: performing closed-loop control on a position and a posture (that is, a pose) of the tail end of a robot by adopting a second-order system of a mass spring damping model to obtain a linear acceleration and an angular acceleration in a Cartesian space; converting the linear acceleration and the angular acceleration in the Cartesian space to a joint speed and a joint acceleration of the robot; if deviations exist between the pose and the joint speed of the tail end of the robot and set values, introducing an inner ring control loop, and controlling each joint of the robot to accelerate and decelerate according to the joint acceleration; and in each control interpolation period of the robot, according to the deviation between the set pose and the actual pose of the tail end of the robot, calculating the joint acceleration of each joint, and enabling the joint acceleration to be acted on a controller of the inner ring control loop of the robot. In the method disclosed by the invention, movement of each joint of the robot is adjusted in real time according to the deviation between the feedback pose of the tail end of the robot and a theoretical pose, and the track precision of the robot is improved.

Description

technical field [0001] The invention relates to the technical field of robot synchronous control, in particular to a method for synchronous control of robot trajectory and a computer-readable storage medium. Background technique [0002] Whether it has high trajectory accuracy is one of the important indicators to measure the performance of the robot. There are four types of robot motion: joint interpolation motion, linear interpolation motion, circular interpolation motion, and spline interpolation motion. Taking the motion from point A to point B as an example, except for joint interpolation motion, only the robot needs to be controlled Accurate movement to the end point B, the other three interpolation motions also need to accurately control the motion trajectory (trajectory accuracy) from the starting point A to the end point B. The trajectory accuracy of the robot is affected by the accuracy of the robot kinematics parameters, robot speed, and robot joints. The synchro...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1628B25J9/161
Inventor 杨金桥徐纯科
Owner 成都卡诺普机器人技术股份有限公司
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