A Method for Optimizing the Motion Time of Manipulator Based on Joint Performance Limitation

Abstract

The invention belongs to the technical field of manipulator control, and specifically discloses a method for optimizing the movement time of a manipulator based on joint performance limitations, including the following steps: (1) Constructive mapping; (2) Limiting the torque of the joint motor of the manipulator; (3) Calculate the acceleration of the trajectory points to obtain the acceleration limit value; (4) map the speed limit of the joint motor of the manipulator to the speed limit of the end effector moving along the trajectory, and obtain the () plane curve corresponding to the speed limit of the joint motor; ( 5) Carry out front and rear numerical integration processing on the acceleration limit values ​​of various characteristic trajectory points, and obtain the () plane curve corresponding to the torque limit of the joint motor; (6) Combine the curves to obtain the trajectory length-speed limit curve; (7) Complete The movement time of the robot arm is optimized. The algorithm of the invention is simple, and based on the performance of the joint motor of the mechanical arm, the movement speed of the mechanical arm is effectively improved, and the optimization of the movement time is realized.

Description

technical field [0001] The invention relates to the technical field of manipulator control, in particular to a method for optimizing the movement time of a manipulator based on joint performance limitations. Background technique [0002] The application of robotic arms has greatly improved production efficiency. With the implementation of intelligent manufacturing policies, the application range of robots has become more and more extensive. When designing a mechanical arm, the performance of the joint motor often depends on the engineer's work experience, and the fixed motion trajectory is simulated to determine the selection of the joint motor. For the user of the manipulator, the planned motion trajectory is complex and changeable. When the manipulator runs along the trajectory set by the user, its end effector often moves along the trajectory at a lower speed. Although this guarantees The robotic arm can complete the planned trajectory, but it does not give full play to ...

AI Technical Summary

Problems solved by technology

For the user of the manipulator, the planned motion trajectory is complex and changeable. When the manipulator runs along the trajectory set by the user, its end effector often moves along the trajectory at a lower speed. Although this guarantees The robotic arm can complete the planned trajectory, but it does not exert the maximum efficiency of the performance of the joint motor

In the existing technology, in order to increase the speed of the movement trajectory of the robotic arm and optimize the movement time, most of them use intelligent algorithms such as neural networks, but this requires a large amount of data sets for training, which not only consumes time but also requires engineering experience to adjust parameters

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