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A method and device for controlling a corner trajectory during automatic operation of a manipulator

A technology of automatic operation and trajectory control, applied in the direction of manipulator, program-controlled manipulator, and comprehensive factory control.

Active Publication Date: 2022-07-12
深圳市朗宇芯科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The above scheme has the following defects: during the automatic operation of the manipulator, it is often necessary to adjust the X-axis servo speed in real time. When the X-axis speed changes, the corner track passively follows the change. When the X-axis speed increases, the corner track tends to be perpendicular to the Y-axis, as shown in the figure Middle curve b; when the X-axis speed decreases, the corner trajectory tends to be parallel to the Y-axis, as shown in the curve c in the figure
At this time, the smoothing effect is greatly reduced, causing the manipulator to run unsteadily, and even the running track may hit obstacles

Method used

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  • A method and device for controlling a corner trajectory during automatic operation of a manipulator
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  • A method and device for controlling a corner trajectory during automatic operation of a manipulator

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Embodiment 1

[0063] refer to figure 1 , the embodiment of the present application provides a rotation angle trajectory control device during automatic operation of a manipulator. The automatic operation program of the manipulator, the parameters of the control system and the calculation formula for obtaining the advance distance are stored in the memory, and the processor executes the automatic operation program of the manipulator. In the steps of the following method, the rotation angle trajectory control device controls the drive of the X-axis servo motor and the Y-axis servo motor through the program in the memory, the processor calls the control system parameters, and controls the speed in the system through the advance distance boundary value in the control system parameters and the speed in the control system. The calculation formula of the boundary value and the advance distance is used to obtain the current advance distance at the real-time speed, and the manipulator is rotated from...

Embodiment 2

[0065] In the following, the implementation of the control method of the corner trajectory during automatic operation of the manipulator will be introduced in detail in combination with the above-mentioned system hardware architecture:

[0066] refer to figure 2 , step S100, select one of the coordinate axes as the speed adjustment axis.

[0067] In this embodiment, the X axis is selected as the speed adjustment axis, the target position is acquired on the Y axis, the speed of the Y axis is unchanged, and the real-time speed on the X axis is not a fixed speed.

[0068] Step S200 , based on the real-time speed of the speed adjustment axis, adaptively adjust the vertical distance that the speed adjustment axis runs to the target position, that is, the advance distance.

[0069] The calculation formula of the advance distance is:

[0070] M=X2+ ((X1-X2) / (V1-V2))*V

[0071] Among them, M represents the current advance distance, V1 represents the maximum speed of the X axis, X1...

Embodiment 3

[0093] The difference between this embodiment and Embodiment 2 is that this embodiment uses the Y axis as the speed adjustment axis, and determines a target position on the X axis, and the speed in the X axis direction does not change.

[0094] Step S200, based on the real-time speed of the speed adjustment axis, the step of adaptively adjusting the vertical distance that the speed adjustment axis runs to the target position, that is, the advance distance, includes:

[0095] In step S210, the boundary value of the advance distance is obtained according to the boundary value of the Y-axis speed, and the boundary value of the advance distance is stored in the control system as a control system parameter.

[0096] Step S220, acquiring the real-time online speed of the Y-axis.

[0097] Step S230, according to the real-time speed call control system parameters and the boundary value of the Y-axis speed, to obtain the current advance distance.

[0098] Step S210, the step of obtain...

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Abstract

The present application relates to the technical field of automatic control of manipulators, and discloses a method and system for controlling a corner trajectory during automatic operation of a manipulator. A method for controlling a corner trajectory during automatic operation of a manipulator includes the following steps: selecting one of the coordinate axes as a speed adjustment axis; Based on the real-time speed of the speed adjustment axis, the vertical distance of the speed adjustment axis running to the target position, that is, the advance distance, is adaptively adjusted; based on the real-time adjusted advance distance, the automatic adjustment of the manipulator's corner trajectory is realized. A rotation angle trajectory control device during automatic operation of a manipulator includes a memory and a processor. By determining different advance distances on the speed adjustment axis, when the speed adjustment axis has different real-time speeds, the manipulator's corner trajectory can be automatically adjusted to the desired smooth trajectory, so that the manipulator's corner trajectory is smooth, and it is not easy to hit obstacles when cornering thing.

Description

technical field [0001] The present application relates to the technical field of automatic control of manipulators, and in particular, to a method and device for controlling a corner trajectory during automatic operation of a manipulator. Background technique [0002] A manipulator is an automatic operation device that can imitate certain action functions of human hands and arms to grab, carry objects or operate tools according to a fixed program. The feature is that it can be programmed to complete a variety of expected operations, and the structure and performance have the advantages of both human and robotic machines. [0003] refer to figure 1 , The currently commonly used method for smoothing the corner trajectory of the manipulator is: taking the XY coordinate plane as an example, when the X-axis servo runs to a distance M from the target position, the Y-axis servo starts to run in advance. According to the principle of motion synthesis, the corner trajectory can be s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1651Y02P90/02
Inventor 章林邓进锋方志宏宋鹏程
Owner 深圳市朗宇芯科技有限公司