A control method of a robot

Abstract

The application provides a control method of a robot, which comprises the following steps: detecting the length L1 of a large arm of the robot, the length L2 of a small arm, a first motor arranged at a first joint to drive the large arm to rotate around the first joint, a second motor arranged at a second joint to drive the small arm to rotate around the second joint, a screw rod assembly connected to the end of the small arm, and detecting the current linear acceleration a of the screw rod assembly 总 ; judging the relationship between a 总 and a MAX , wherein a MAX is the maximum linear acceleration of the end of the screw rod under the condition of the service life of the screw rod; and controlling the robot to reduce the speed at a falling ratio of Ka if a 总 >a MAX , and maintaining the current state if a 总 ≤a MAX . According to the application, the situation that the screw rod is bent or even broken after long-term use can be avoided, the reliable and stable operation of the robot screw rod is ensured, and the service life of the robot is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a control method of a robot. BACKGROUND

[0002] SCARA robot, including robot first joint and second joint, when the first joint and the second joint move, different poses, speeds and accelerations of the joints in the movement process planning will bring different load pressures to the motors of the first joint and the second joint, and the acceleration of the first and second joints usually needs to consider the torque that the motor can output and the overload condition or the maximum torque that the speed reducer can withstand. The screw rod at the end of the scara will bear a large horizontal force when rotating horizontally. When the first and second joints of the robot move at a large acceleration, a large bending moment and shear force will be generated on the screw rod, which will reduce the service life of the screw rod when exceeding its bearing limit, and in severe cases, the screw rod will bend or even break.

[0003] Patent with application number 202310582214.3 (patent number CN116572226A) discloses a method of using a telescopic energy-consuming buffer device in structure to ensure the safety of the screw rod assembly structure. Patent with application number 202223256026.1 (patent number CN219006064U) discloses a method of using multiple electromagnetic buffer components to adjust the play and compression strength using the attraction and repulsion of magnetic poles. The above two patents are both designed to absorb energy or reduce compression strength through structural components.

[0004] However, they all have the problem that the SCARA robot has a large movement acceleration when moving in the horizontal direction, which causes the screw rod to bear excessive radial load and reduces the service life of the screw rod.

[0005] Therefore, the present application provides a control method of a robot to solve the technical problems of the SCARA robot in the prior art, which has a large movement acceleration when moving in the horizontal direction, causing the screw rod to bear excessive radial load and reducing the service life of the screw rod. SUMMARY

[0006] Therefore, the present application provides a control method of a robot to solve the technical problems of the SCARA robot in the prior art, which has a large movement acceleration when moving in the horizontal direction, causing the screw rod to bear excessive radial load and reducing the service life of the screw rod.

[0007] To solve the above problems, the present application provides a control method of a robot, which comprises:

[0008] The detection steps involve detecting the robot's upper arm length L1 and forearm length L2. A first motor is installed at the first joint to drive the upper arm to rotate around the first joint, and a second motor is installed at the second joint to drive the forearm to rotate around the second joint. A lead screw assembly is connected to the end of the forearm, and the current linear acceleration 'a' of the lead screw assembly is detected and calculated. 总 ;

[0009] The decision step is to determine a. 总 At its maximum, it is related to a MAX The relationship between a, where a MAX The maximum linear acceleration at the end of the lead screw considering the lead screw life;

[0010] Control steps, if a 总 >a MAX Then control the deceleration, with a reduction ratio of Ka; if a 总 ≤a MAX If so, the current state will remain unchanged.

[0011] In some implementations...

[0012] The control steps control And control A1' = K a ·A1, A2'=K a A2, where A1 is the current angular acceleration of the first joint, A2 is the current angular acceleration of the second joint, A1' is the target angular acceleration of the first joint, and A2' is the target angular acceleration of the second joint.

[0013] In some implementations...

[0014] In the control step, when the first joint moves independently, the current linear acceleration a of the lead screw assembly is... L =L·A1, when the second joint moves alone, the current linear acceleration a2 of the lead screw assembly is =L2·A2, in the plane where the forearm and the upper arm are located, the lead screw assembly's The + direction is perpendicular to the length extension direction of the forearm, and L is the length of the other side of the triangle formed by the forearm and the upper arm. The direction is perpendicular to the extension direction of the other side.

[0015] In some implementations...

[0016] The linear acceleration a of the lead screw assembly 总 It is calculated using the following formula:

[0017] In some implementations...

[0018] The control step, when the first joint moves alone, the target linear acceleration a L of the screw assembly is a 总 , and when the second joint moves alone, the current linear acceleration a L of the screw assembly is a a , the target linear acceleration of the screw assembly is a L , and the current linear acceleration of the screw assembly is a a . 总 , the target linear acceleration of the screw assembly is a a , and the current linear acceleration of the screw assembly is a 总 . MAX .

[0019] In some embodiments,

[0020] In the plane where the small arm and the large arm are located together, the small arm and the large arm form an acute angle, and when a 总 is maximum, the degree of the acute angle at this position is calculated as θ2.

[0021] In some embodiments,

[0022] The angle between the small arm and the large arm is an obtuse angle, and the extension line of the large arm and the small arm are located at θ2.

[0023] In some embodiments,

[0024] The control step, the joint movement planning is re-performed, the time scaling is controlled, and a 总 is ensured. After the scaling, the angle at the maximum acceleration moment is still θ2, that is, the position where the maximum acceleration occurs is still located at the position of θ2, so that no acceleration greater than a 总 ' is generated, the maximum bearing load of the Z-axis screw is prevented from being exceeded, and the end acceleration is prevented from exceeding a MAX .

[0025] In some embodiments,

[0026] If it is obtained after the movement planning that the acceleration needs to be reduced by K a times, the time is scaled by K times, the joint acceleration A2' = K a ·A2, A1' = K a ·A1, and after the K a times adjustment of the acceleration in the form of time scaling, the maximum acceleration of the entire planning is a 总 ' and still corresponds to the angle θ2.

[0027] In some embodiments,

[0028] The interpolation of the original motion planning is 2ms, that is, the interpolation points are sent every 2ms, that is, the position information is sent every 2ms; 0.5 times scaling is performed on the time, and every 2ms, the interpolation points originally every 1ms are sent, so that the speed in the whole planning is 0.5 times of the original speed, and the acceleration is 0.5*0.5=0.25 times of the original acceleration.

[0029] The control method of the robot provided by the application has the following beneficial effects:

[0030] The application guarantees the service life of the screw rod in the use of the robot by hooking the acceleration in the motion planning process of the first and second joints of the robot (preferably a SCARA robot) with the maximum horizontal motion linear acceleration that the screw rod can bear, ensuring that the radial load received by the screw rod in the final motion process is less than the bearing limit, avoiding the situation that the screw rod is bent or even broken after long-term use, guaranteeing the reliable and stable operation of the robot screw rod, and improving the service life thereof. The application also completes the re-planning of the joints by the rate adjustment mode of time scaling, which can ensure that the maximum acceleration after planning is a 总 Still corresponding to the angle θ2, it is ensured that the acceleration greater than a 总 ’ does not appear at other angles, preventing the maximum bearing load of the Z-axis screw rod from being exceeded, preventing the end acceleration from exceeding a MAX , and further guaranteeing the reliable and stable operation of the robot screw rod and further improving the service life thereof. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a side view structure diagram of the SCARA robot of the application;

[0032] Figure 2 is a top view structure diagram of the SCARA robot of the application (the upper drawing shows that the large arm and the small arm are perpendicular, and the lower drawing shows that the large arm and the small arm are parallel) ;

[0033] Figure 3 is a top view force (torque) analysis diagram of the SCARA robot of the application;

[0034] Figure 4 is a flow chart of the control method of the SCARA robot of the application.

[0035] The reference signs are shown as follows:

[0036] 1, first joint; 2, second joint; 3, screw rod assembly; 4, large arm; 5, small arm. DETAILED DESCRIPTION

[0037] Clearly, the embodiments described are only some embodiments of the application and not all embodiments of the application. The descriptions of the at least one example embodiment are intended to be illustrative, and not to be limiting. Many variations to the example embodiments described herein will be readily appreciated by persons of ordinary skill in the art, and the conceptor(s) is / are not aware of any theoretical reasons why these variations would not work. Persons of ordinary skill in the art having access to the teachings herein will recognize the applicability of these teachings to other embodiments and can make readily apparent to themselves other variations that are encompassed by the conceptor(s)'s disclosure. Accordingly, the scope of the application is not to be limited by the above description of some embodiments of the application.

[0038] It is to be understood that the terminology used herein is for the purpose of describing specific embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0039] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in the examples are not intended to limit the scope of the application unless otherwise specifically stated. It is to be understood that the drawings are not necessarily to scale as the dimensions of the parts shown are for the clarity of presentation and are shown exaggerated in relation to each other. The techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail but should be considered as if the discussion were fully conveyed. In the examples shown and discussed herein, any specific values are to be interpreted as illustrative only and not as a limitation. Thus, other examples of the exemplary embodiments can have different values. It is to be noted that like reference numerals and letters refer to like items in the drawings and, as a result, further discussion of such items is not necessary in the subsequent drawings.

[0040] In the description of the application, it is to be understood that the orientation or positional relationships indicated by terms such as "front", "back", "up", "down", "left", "right", "horizontal", "vertical", "top", "bottom", and the like are generally based on the orientation or positional relationships shown in the drawings, and are merely intended to facilitate the description of the application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be construed as limiting the scope of protection of the application. The orientation terms "inner", "outer" refer to the inner and outer of the contour of the parts themselves.

[0041] For purposes of the description hereinafter, spatially relative terms, such as "above", "below", "up", "down", "between", "within", "left", "right", "rear", "front", "upper", "lower", "horizontal", "vertical", "above", "below", "top", "bottom", "under", and the like, can be used where appropriate to describe an orientation or position of one component relative to another component as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. The terms "first", "second", "third", etc., do not necessarily indicate any ordinal, chronological or other sequence unless expressly stated to do so.

[0042] In addition, it should be noted that the use of "first", "second", etc. words to qualify parts, only for the convenience of distinguishing the corresponding parts, as no other declaration, the above words have no special meaning, therefore can not be understood as limiting the scope of protection of the present application.

[0043] As shown in Figures 1-4 , the present application provides a robot control method, comprising:

[0044] The detection step detects the length L1 of the large arm 4, the length L2 of the small arm 5, the first motor provided at the first joint 1 to drive the large arm 4 to rotate around the first joint 1, the second motor provided at the second joint 2 to drive the small arm 5 to rotate around the second joint 2, and the current linear acceleration a of the screw rod assembly 3 connected at the end of the small arm 5. 总 ;

[0045] The judgment step judges the relationship between a 总 and a MAX , where a MAX is the maximum linear acceleration of the screw rod assembly 3 considering the service life of the screw rod.

[0046] The control step controls the speed reduction if a 总 is greater than a MAX , the falling ratio is Ka; if a 总 is less than or equal to a MAX , the current state is maintained.

[0047] The application guarantees the service life of the screw rod during the use of the robot, avoids the situation that the screw rod is bent or even broken after long-term use, guarantees the reliable and stable operation of the robot screw rod, and improves the service life thereof.

[0048] The application is a first-second joint acceleration constraint method based on the service life of a SCARA robot screw rod.

[0049] The application provides a method for guaranteeing the service life of a screw rod by constraining the acceleration of a first joint and a second joint of a SCARA robot. Different types of screw rods have different upper limits in the radial direction under different assembly conditions. There is a product life requirement at the beginning of product design. After the structure design of the screw rod part is completed, the radial force borne by the screw rod during movement is limited. The radial force borne by the screw rod during movement mainly comes from the inertial force generated during the movement of the first joint and the second joint of the SCARA robot. According to the bearing limit of the radial load (inertial force) of the screw rod, the maximum acceleration that can be borne by the screw rod in the horizontal direction can be known. During the movement planning of the first joint and the second joint, the maximum linear acceleration of the screw rod during movement is guaranteed to be less than the bearing limit, so that the service life of the screw rod is guaranteed.

[0050] In some embodiments,

[0051] The control step controls and controls A1'=K a ·A1, A2'=K a ·A2, wherein A1 is the current angular acceleration of the first joint 1, A2 is the current angular acceleration of the second joint 2, A1' is the target angular acceleration of the first joint 1, and A2' is the target angular acceleration of the second joint 2.

[0052] This is a further way of determining K a of the application, by controlling that is, the maximum linear acceleration of the screw rod assembly can be controlled to a MAX and the following, so as to effectively guarantee that the maximum linear acceleration of the robot and the screw rod assembly during operation does not exceed a MAX At the same time, the angular acceleration of the motor at the first joint and the second joint is multiplied by a coefficient K aThis means effectively achieving control by reducing the angular acceleration of the two joint motors (angular acceleration corresponds to motor speed) by a factor of two, i.e., reducing the speed of the two motors. This allows for obtaining two target angular accelerations, ensuring that the maximum linear acceleration of the control screw assembly does not exceed 'a'. MAX This ensures the reliable and efficient operation of the lead screw assembly and extends its service life.

[0053] In some implementations...

[0054] In the control steps, when the first joint 1 moves independently, the current linear acceleration a of the lead screw assembly 3 is... L =L·A1, when the second joint 2 moves alone, the current linear acceleration a2 of the lead screw assembly 3 is =L2·A2, in the plane where the forearm 5 and the upper arm 4 are located, the lead screw assembly 3 The direction of + is perpendicular to the length extension direction of the forearm 5, and L is the length of the other side of the triangle formed by the forearm 5 and the upper arm 4. The direction is perpendicular to the extension direction of the other side.

[0055] This is the correspondence between linear acceleration and angular acceleration at the two joints of this invention. Figure 3 When the lead screw assembly moves independently of the first joint, its linear acceleration is the angular acceleration of the first joint multiplied by the lever arm between the first joint and the lead screw assembly. However, the lever arm of the lead screw assembly relative to the first joint should be L, where L is the length of the other side of the triangle formed by the forearm and upper arm. Therefore, a L = L·A1, and when the lead screw assembly is driven by the second joint alone, its linear acceleration is the angular acceleration of the second joint multiplied by the lever arm between the second joint and the lead screw assembly, so a2 = L2·A2. The direction of + is perpendicular to the length extension direction of forearm 5. The direction of the screw is perpendicular to the extension direction of the other side, and the rotational force of the two drive screw assemblies is perpendicular to the forearm and the other side, respectively.

[0056] In some implementations...

[0057] The linear acceleration a of the lead screw assembly 3 总 It is calculated using the following formula:

[0058] This invention also provides... It can effectively calculate the current linear acceleration of the lead screw assembly, and then a 总 With a MAX Compare and determine if it exceeds a. MAXAnd control whether to reduce the speed, ensure that the running process does not exceed the strength range of the screw rod assembly, improve the reliability, and improve the service life.

[0059] In some embodiments,

[0060] The control step, the target linear acceleration a' of the screw rod assembly 3 when the first joint 1 moves alone a1'=L1·A1', the current linear acceleration a'2=L2·A2 of the screw rod assembly 3 when the second joint 2 moves alone, and the target linear acceleration a of the screw rod assembly 3 is a L 总 ' = K L ·a a 1, a2'=K L ·a2, a a ' = K 总 ·a a , and a 总 =a MAX .

[0061] The application further calculates the target linear acceleration through the target angular acceleration, obtains the relationship between the target linear acceleration and the current linear acceleration, and the relationship between the target total linear acceleration of the screw rod and the current target linear acceleration, thereby meeting the requirements of the service life of the screw rod in the running process of the robot, ensuring reliable and stable operation, and improving the service life.

[0062] The application is applied to the motion control system of the SCARA robot, and is used to reduce the maximum acceleration of the first joint and the second joint in the motion planning, ensure that the radial acceleration of the screw rod in the motion process of the robot is within the bearing range, and the service life of the screw rod is not reduced due to excessive radial load in the use process.

[0063] According to the service life of the screw rod, there is a limit a MAX If the original joint angular acceleration A1 and A2 of the motion planning correspond to the linear acceleration a 总 exceeds a MAX , the acceleration of the first joint and the second joint is proportionally reduced. The reduction ratio The constrained angular acceleration of the first joint A1'=K a ·A1, the constrained angular acceleration of the second joint A2'=K a ·A2, the linear acceleration a L ' = K a ·a L of the end screw rod when the first joint moves alone, and the linear acceleration a2'=K a of the end screw rod when the second joint moves alone.a2, the linear acceleration of the final end screw rod is obtained by vector composition 总 = K a a2 总 = a MAX , the linear acceleration of the horizontal direction of the screw rod can be ensured within the maximum linear acceleration it can bear after the acceleration is reduced by the coefficient Ka. The second motion planning is performed under this condition, and the radial load does not exceed the bearing limit, thereby ensuring the service life.

[0064] In some embodiments,

[0065] In the plane where the small arm 5 and the large arm 4 are located together, the small arm 5 and the large arm 4 form an acute angle, and a 总 When a is the maximum, the degree of the acute angle at this position is calculated as θ2.

[0066] The present application can combine + and to calculate and obtain the preferred angle position between the large arm and the small arm with the maximum a 总 .

[0067] After the robot performs motion planning, when the planned position moves to an arbitrary position such as Figure 3 , the small arm and the large arm form an angle θ2, and then the distance L between the end of the screw rod and the rotation center of the first joint can be obtained through the length L1 of the large arm and the length L2 of the small arm. Through the planned first joint angular acceleration A1 and the second joint angular acceleration A2, the linear acceleration a1 of the end screw rod when the first joint moves alone can be obtained, and the linear acceleration a2 of the end screw rod when the second joint moves alone can be obtained. L = L·A1 and a2 = L2·A2, and the linear acceleration a of the final end screw rod is obtained by vector composition of the linear acceleration generated by the motion of the two joints. 总 , that is, the linear acceleration

[0068] In some embodiments,

[0069] The angle between the small arm 5 and the large arm 4 is obtuse, and the large arm 4 and the small arm 5 form the acute angle θ2.

[0070] This is a further preferred form of the robot control method of the present application, as shown in Figure 3 , the obtuse angle is directly formed between the large arm and the small arm, and the acute angle is the supplement of the obtuse angle, that is, the angle between the extension line of the large arm and the small arm is the acute angle θ2.

[0071] In some embodiments,

[0072] The control step re-plans the joint movement, controls time scaling, and ensures that a 总 The angle at the maximum acceleration moment after scaling is still θ2, that is, the position where the maximum acceleration occurs is still at the position of θ2, ensuring that no other angle has an acceleration greater than a 总 ' to prevent exceeding the maximum load capacity of the Z-axis screw and prevent the end acceleration from exceeding a MAX .

[0073] The present application also re-plans the joint through the scaling ratio adjustment of time, which can ensure that the maximum acceleration after planning is a 总 ' still corresponding to the angle θ2, ensuring that no other angle has an acceleration greater than a 总 ' to prevent exceeding the maximum load capacity of the Z-axis screw and prevent the end acceleration from exceeding a MAX , further ensuring the reliable and stable operation of the robot screw and further improving its service life.

[0074] In some embodiments,

[0075] If the movement planning results in the need to reduce the K a times acceleration, the time is scaled by K times, then the joint acceleration A2' = K a ·A2, A1' = K a ·A1, and after K a times adjustment of acceleration through time scaling, the maximum acceleration of the entire planning is a 总 ' and still corresponds to the angle θ2.

[0076] In some embodiments,

[0077] The original movement planning interpolation is 2ms, that is, the interpolation points (absolute joint positions) are sent every 2ms, that is, position information is sent every 2ms (angle acceleration information can be obtained through position information); the time is scaled by 0.5 times, and every 2ms, the interpolation points originally every 1ms are sent, so the speed in the entire planning is 0.5 times the original, and the acceleration is 0.5*0.5 = 0.25 times the original.

[0078] a 总 is the maximum acceleration in the entire movement planning process, in order to ensure that after the K a coefficient reduces the acceleration of two joints, the maximum acceleration of the entire planning is a 总And still corresponding to angle θ2, the joint can be re-planned by the adjustment of the time scaling factor; for example: the original motion planning interpolation is 2ms, that is, the interpolation points (absolute joint position) are sent every 2ms; the time is scaled by 0.5 times, and every 2ms, the interpolation points originally every 1ms are sent, then the speed in the whole planning is 0.5 times of the original, and the acceleration is 0.5*0.5=0.25 times of the original; if the motion planning is performed and it is concluded that the acceleration needs to be reduced K a times, the time is scaled by times, then the joint acceleration A2' = K a ·A2, A1' = K a ·A1. And the acceleration is adjusted by time scaling K a times, then the maximum acceleration of the whole planning is a 总 ' and still corresponding to angle θ2.

[0079] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application. The above only describes the preferred embodiments of the present application, and it should be pointed out that for ordinary skilled in the art, without departing from the technical principles of the present application, a number of improvements and modifications can be made, and these improvements and modifications shall be regarded as the protection scope of the present application.

Claims

1. A method for controlling a robot, characterized in that: include: The detection steps involve detecting the length L1 of the robot's upper arm (4) and the length L2 of its forearm (5). A first motor is installed at the first joint (1) to drive the upper arm (4) to rotate around the first joint (1), and a second motor is installed at the second joint (2) to drive the forearm (5) to rotate around the second joint (2). A lead screw assembly (3) is connected to the end of the forearm (5). The current linear acceleration a of the lead screw assembly (3) is detected and calculated. 总 ; The decision step is to determine a. 总 At its maximum, it is related to a MAX The relationship between a, where a MAX The maximum linear acceleration of the lead screw assembly (3) considering the lead screw life; Control steps, if a 总 >a MAX Then control the deceleration, with a reduction ratio of Ka; if a 总 ≤a MAX If so, the current state will remain unchanged.

2. The robot control method according to claim 1, characterized in that: The control steps control and control , A1 is the current angular acceleration of the first joint (1), A2 is the current angular acceleration of the second joint (2), A1' is the target angular acceleration of the first joint (1), and A2' is the target angular acceleration of the second joint (2).

3. The robot control method according to claim 2, characterized in that: In the control steps, the current linear acceleration of the lead screw assembly (3) when the first joint (1) moves independently is... The current linear acceleration of the lead screw assembly (3) when the second joint (2) moves independently. In the plane where the forearm (5) and the upper arm (4) are located, the lead screw assembly (3) The direction is perpendicular to the length extension direction of the forearm (5), and L is the length of the other side of the triangle formed by the forearm (5) and the upper arm (4). The direction is perpendicular to the extension direction of the other side.

4. The robot control method according to claim 3, characterized in that: The linear acceleration a of the lead screw assembly (3) 总 It is calculated using the following formula: .

5. The robot control method according to claim 4, characterized in that: In the control steps, when the first joint (1) moves independently, the target linear acceleration of the lead screw assembly (3) is... The current linear acceleration of the lead screw assembly (3) when the second joint (2) moves independently. The target linear acceleration of the lead screw assembly (3) is a. 总 ', then there will be , , .

6. The robot control method according to claim 5, characterized in that: In the plane shared by the forearm (5) and the upper arm (4), when an acute angle is formed between the forearm (5) and the upper arm (4), at a 总 When the maximum value is calculated, the acute angle at the position of the second joint (2) is: .

7. The robot control method according to claim 5, characterized in that: When the angle between the forearm (5) and the upper arm (4) is obtuse, the extension line of the upper arm (4) and the forearm (5) are intersected by the angle between them. .

8. The robot control method according to claim 6 or 7, characterized in that: The control steps involve re-planning joint motion and controlling time scaling to ensure a. 总 After scaling, the angle at the instant of maximum acceleration remains θ2, meaning the location of maximum acceleration is still at position θ2, ensuring that it will not occur at other angles where it exceeds α. 总 'Also requires a large acceleration to prevent exceeding the maximum load capacity of the lead screw assembly and to prevent the end-effector acceleration from exceeding a' MAX .

9. The robot control method according to claim 8, characterized in that: If, after conducting exercise planning, it is determined that a reduction is needed... Multiplication, then time is... Magnification, then joint acceleration , And acceleration is achieved through time scaling. After adjustment, the maximum acceleration of the entire plan is And still corresponding angle .

10. The robot control method according to claim 9, characterized in that: The original motion planning interpolation was 2ms, meaning that an interpolation point was sent every 2ms, which is equivalent to sending position information every 2ms. By scaling the time by 0.5, and sending the original 1ms interpolation point every 2ms, the velocity in the entire planning becomes 0.5 times the original value, and the acceleration becomes 0.5 * 0.5 = 0.25 times the original value.

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