High-precision precise positioning motion planning method

A technology of motion planning and precise positioning, which is applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve the problems of large amount of calculation and large time delay, and achieve small amount of calculation, improved time lag, and simple calculation equations Effect

Pending Publication Date: 2022-04-01
深圳市迈实自动化有限公司
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Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a high-precision precise positioning motion planning ...

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  • High-precision precise positioning motion planning method
  • High-precision precise positioning motion planning method
  • High-precision precise positioning motion planning method

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Embodiment Construction

[0021] The present invention provides a high-precision precision positioning motion planning method. In order to make the purpose, technical solution and effect of the present invention more clear and definite, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0022] Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the word "comprising" used in the description of the present invention refers to the presence of said features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, Integers, steps, operations, elements, components, a...

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Abstract

The invention discloses a high-precision precise positioning motion planning method, which comprises the following steps of: parameterizing a motion planning curve, and constructing a speed equation under the condition that the upper limit of speed is Vm and the upper limit of acceleration is am, K is a coefficient related to Vm, and tau is a coefficient related to am; and when the planned distance is x and the speed at the ta moment is x, solving according to the equation set, and if the speed is smaller than Vm, obtaining a high-precision precise positioning motion planning curve according to the equation. The high-precision precise positioning motion planning method provided by the invention can effectively improve the problem of time delay, has the characteristic of asymmetric acceleration and deceleration, and is simple in operation equation and small in calculation amount.

Description

technical field [0001] The invention relates to the technical field of high-precision motion control, in particular to a high-precision precision positioning motion planning method. Background technique [0002] High-speed and high-precision motion control is a research hotspot in modern mechanical engineering technology, which has an important impact on improving the work efficiency and processing quality of mechanical equipment. High-speed and high-precision motion control technology is widely used in many fields such as CNC machine tools and industrial robots. Trapezoidal speed curve and S-shaped speed curve planning are widely used in the field of motion control. [0003] However, the calculation amount of the S-shaped speed curve is large, and the trapezoidal speed curve is prone to overshoot at the turning point when the speed upper limit is reached due to the discontinuous speed change. At the same time, in the point-position control, the two curves have a large lag...

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Application Information

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IPC IPC(8): G05B13/04
Inventor 张元
Owner 深圳市迈实自动化有限公司
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