A kind of robot trajectory synchronization control method, computer readable storage medium

A synchronous control and robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as poor synchronization of joints, approximately the same command response, and inability to guarantee robot trajectory accuracy, so as to ensure synchronization and improve trajectory accuracy. Effect

Active Publication Date: 2022-07-26
CHENGDU CRP ROBOT TECH CO LTD
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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-loop PID control method is essentially to independently control each joint of the robot in a closed-loop manner, and there are defects that each joint of the robot follows instructions differently, and some axes are fast while others are slow, resulting in poor joint synchronization and robot trajectory Accuracy cannot be guaranteed

Method used

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  • A kind of robot trajectory synchronization control method, computer readable storage medium
  • A kind of robot trajectory synchronization control method, computer readable storage medium
  • A kind of robot trajectory synchronization control method, computer readable storage medium

Examples

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Effect test

Embodiment 1

[0074] A robot trajectory synchronization control method, in this embodiment, is specifically composed of an inner control loop and an outer control loop, and specifically, includes 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: As figure 1 As shown, according to the feedback angle q of each joint of the robot, the positive motion formula KIN(q) of the robot is used to calculate the feedback pose X of the end of the robot. The method is as follows:

[0078] The kinematic 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} i...

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. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium, an internal memory. The nonvolatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store the data involved in the robot trajectory synchronization control method. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the robot trajectory synchronization control ...

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Abstract

The invention discloses a robot trajectory synchronization control method. The linear acceleration and angular acceleration in space are converted into the joint speed and joint acceleration of the robot. If there is a deviation between the pose and joint speed of the robot end and the set value, the inner loop control loop is introduced to control each joint of the robot to increase according to the joint acceleration. Deceleration; in each control interpolation cycle of the robot, according to the deviation between the set pose and the actual pose of the robot end, the joint acceleration of each joint is calculated and applied to the controller of the inner loop control loop of the robot. The method of the invention adjusts the motion of each joint of the robot in real time according to the deviation between the robot end feedback pose and the theoretical pose, and improves the trajectory accuracy of the robot.

Description

technical field [0001] The invention relates to the technical field of robot synchronous control, in particular to a robot trajectory synchronization control method 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. Take the motion from point A to point B as an example, except for joint interpolation motion, you only need to control the robot. Precise movement to the end point B, the other three interpolation movements also need to precisely control the movement trajectory from the start point A to the end point B (trajectory accuracy). The synchronization of robot joints has the greatest impact on the trajectory accuracy of the robot. [0003] Each joint of the existing robot mostly ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1628B25J9/161
Inventor 杨金桥徐纯科
Owner CHENGDU CRP ROBOT TECH CO LTD
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