Improved control method for movement speed of six-axis mechanical arm

Abstract

The invention provides an improved control method for the movement speed of a six-axis mechanical arm. The method comprises the steps that an S-shaped acceleration and deceleration curve of track operation is obtained according to the principle of an S-shaped acceleration and deceleration algorithm, an acceleration function, a speed function and a displacement function of each stage are obtained, the speed and the displacement of a transition point of each stage are obtained through the maximum value of amax and the minimum value of vmax, stage judgment is performed according to the interval in the displacement s0-s7 of the transition point where the current displacement value s is located to obtain current speed values of different stages, and by obtaining the current speed values of the mechanical arm in real time, the control precision of the mechanical arm is improved. The method has the beneficial effects that the accuracy and stability of the novel S-shaped acceleration and deceleration algorithm and the speed planning algorithm are improved, smooth transition of speed and acceleration can be achieved, the shaking phenomenon caused by impact is reduced, and the control precision of the six-axis mechanical arm is improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an improved method for controlling the movement speed of a six-axis mechanical arm. Background technique [0002] Currently on the market, according to the composition of the robot linkage mechanism, it can be divided into two types: series robots and parallel robots. In practical applications, series robots are the mainstream in the market, especially in handling, palletizing, welding, cutting, etc., which require a lot of space. The fields are more popular, and parallel robots are mostly used in medical treatment, assembly, precision machining and other occasions that require high positioning accuracy and speed. With the vigorous development of modern logistics, cutting, and assembly industries, it is not only necessary to expand the operable space of robots, but also to be able to complete tasks in a short period of time, which puts forward new requirements for high-speed and h...

AI Technical Summary

Problems solved by technology

[0004] In most six-axis manipulator control systems that do not require high precision, the traditional trapezoidal or exponential acceleration and deceleration algorithms are still used. The trapezoidal acceleration and deceleration algorithm still has a sudden change in speed during the acceleration and deceleration process and cannot guarantee flexible control of motion. The exponential acceleration and deceleration algorithm will still impact the entire system when the acceleration changes suddenly, causing the actuator at the end of the manipulator to vibrate, which greatly affects the control accuracy

[0005] At present, the controllers using the traditional S-type acceleration and deceleration algorithm calculate the current speed value based on the time scale, and use time as the variable to obtain the corresponding speed value according to the speed function. This requires the controller to have an accurate concept of time, although The algorithm has simple steps and a relatively small amount of calculation, but in actual motion, there will still be problems of variable speed delay and speed discontinuity. The algorithm relies too much on the time variable of the controller, so that stability and feasibility cannot be guaranteed.

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