Integrated design control system and control method based on side taking manipulator

Abstract

The invention provides an integrated design control system and method based on a side-taking manipulator, and the method comprises the steps: creating a human-computer interface which is convenient for a user to use, and enabling the user to directly set and issue parameters on the interface; a manipulator is directly managed through a master control computer of the injection molding machine; four-dimensional motion control is realized, and hard synchronization and safety interlocking integrated response of position, speed, acceleration, deceleration, action time sequence and injection molding period (mold opening, ejection and mold closing) are realized. The system is connected to a host through an internet access, and data interaction is carried out by utilizing Ethernet communication, so that the work of each system is controlled; the invention provides an integrated design control system and method based on a side taking manipulator, aims to provide a solution which is more efficient, more flexible and easy to maintain, is suitable for industrial equipment needing side taking management, such as an injection molding machine, and remarkably improves the control precision and operation convenience of the equipment.

Description

Technical Field

[0001] This invention relates to the field of industrial control technology, specifically to an integrated design control system and control method based on a side-grabbing manipulator. Background Technology

[0002] For equipment such as injection molding machines that require a side-mounted robotic arm to pick up parts, the machine is usually adjusted using a mechanical handle configured on the robotic arm, rather than being completed in one go on the injection molding machine's industrial control computer.

[0003] The shortcomings of existing technology: 1. High error rate: Because each control system operates independently and has a complex wiring structure with the host, errors are prone to occur during system assembly or maintenance, increasing the possibility of failure.

[0004] 2. Inconvenient maintenance: When debugging is required, a robotic arm handle must be used. This is not only time-consuming, but also makes troubleshooting very difficult once a problem occurs, because the injection molding machine control system and the robotic arm handle control system are inconsistent.

[0005] 3. Inefficiency: In traditional control methods, checking the condition of a specific part requires a handle, which increases the inspection time and difficulty, and reduces work efficiency.

[0006] Therefore, existing technologies have shortcomings and need further improvement. Summary of the Invention

[0007] To address the problems existing in the prior art, this invention provides an integrated design control system and control method based on a side-grabbing manipulator.

[0008] To achieve the above objectives, the specific solution of the present invention is as follows: This invention provides an integrated design and control system based on a side-grabbing manipulator, comprising: The main control computer of the injection molding machine, as the centralized control core, is configured for: Generate motion control parameters for the robotic arm, including position, velocity, acceleration, and deceleration; Real-time monitoring of injection molding cycle status signals, including mold opening, ejection, and mold closing; It integrates a human-machine interface (HMI) to provide robot arm parameter setting and status display functions; The robotic arm execution unit includes: The lightweight robotic arm body is made of carbon fiber composite material, which reduces weight by ≥40% compared to steel through topology optimization. At least three integrated drive joints, each joint integrating a brushless motor, harmonic reducer, dual encoders and temperature sensor; Real-time communication bus connects the main control computer of the injection molding machine with the robot execution unit. It uses Ethernet protocol to achieve μs-level synchronous communication. Communication protocols include EtherCAT, PROFINETIRT or Powerlink. The safety interlock module is hardwired to the injection molding machine's main control computer and is configured for: When responding to an emergency stop signal, the injection molding machine is simultaneously triggered to stop mold closing and the robotic arm brake is engaged. Control the robotic arm to retract to a safe position when the safety door opens; The control architecture can adopt a centralized or master-slave control mode: Centralized: The main control computer of the injection molding machine directly controls the servo drive of the robotic arm; Master-slave configuration: The main control computer of the injection molding machine acts as the master station, and the robot controller acts as the slave station, transmitting instructions through process data objects (PDOs).

[0009] Furthermore, the main control computer of the injection molding machine is also equipped with: The dynamic feedforward compensation controller executes the following compensation algorithm: ; Where τ_ff is the feedforward torque and M(q) is the inertia term. For the desired acceleration, Coriolis force term, Let G(q) be the desired velocity, and let G(q) be the gravitational term. The PD feedback corrector is used to correct position errors and achieve a repeatability accuracy of ±0.1mm. Feedback correction calculation: ; In the formula, For positional error, The desired position of the robotic arm joints. Joint position; For speed error, For the desired speed, Joint velocity; Kp is the proportional gain matrix and Kd is the differential gain matrix; Total control torque: .

[0010] Furthermore, the system also includes: a digital twin monitoring system. Structural dynamics model, ADAMS / Simulink co-simulation, predicting the vibration and deformation of the robotic arm; Thermodynamic model, ANSYS transient thermal analysis, early warning of motor overheating fault; The data mapping engine synchronizes data between physical entities and virtual models through the OPCUA interface.

[0011] Furthermore, the safety interlock module is further configured as follows: The distance d between the robot arm and the mold is detected in real time. When d < the preset safety threshold, an emergency deceleration of -5m / s² is triggered. When the motor current exceeds 150% of the rated value, the robot's moving speed will automatically decrease to 70% of the current speed.

[0012] Furthermore, the real-time communication bus is EtherCAT, which uses a distributed clock (DC) to achieve μs-level time synchronization with an error of <±1μs, and transmits target position, velocity, and acceleration parameters through process data objects (PDO).

[0013] This invention also improves an integrated design and control method based on a side-grabbing manipulator. Based on the above system, the method includes the following steps: S1, Centralized Instruction Generation: Executed in real time by the main control computer of the injection molding machine: Monitor the injection molding cycle status, including mold opening, ejection, and mold closing; The robot arm's motion commands are automatically calculated based on product parameters, including target position, speed, acceleration, and deceleration. S2, Hard Real-Time Synchronous Control: When the mold opening completion signal is detected, the robot sends an action command to the robot via the real-time communication bus (EtherCAT / PROFINETIRT / Powerlink) within ≤50ms. The command transmission cycle is ≤1ms and the time synchronization error is ≤±1μs. S3, Dynamic feedforward compensation execution: The robotic arm drives the joints to execute the following control laws: Total control torque = feedforward compensation + feedback correction; ; S4, Safety Interlock Response: The default protection action will be executed when any of the following conditions are met: Emergency stop signal: Simultaneously stop the injection molding machine from closing the mold and activate the robotic arm brake (response ≤100ms); Real-time position and mold distance d < safety threshold: trigger emergency deceleration of −5m / s; Motor current > 150% of rated value: Automatic speed reduction to 70% of operating speed.

[0014] Furthermore, the motion command calculation in step S1 specifically includes: The speed is dynamically adjusted based on the product weight (m). Unit: g. ; The acceleration is set to 0.3×v, where v is the adjusted velocity value and v_max is the preset maximum velocity. The velocity unit is mm / s.

[0015] Furthermore, step S3 also includes: The actual joint angle q_actual is obtained through dual encoders; Calculate the position error e = q_actual − q_target; Achieve repeatability accuracy of ±0.1mm.

[0016] Furthermore, the dynamic feedforward compensation execution in step S3 includes: S-shaped acceleration and deceleration curves are adopted. ; Where a(t) is the instantaneous acceleration that changes with time, t is the current time, t0 and t1 are time offsets, a_max is the maximum acceleration, and α is the smoothing factor.

[0017] Furthermore, the method also includes: Step S5, Digital Twin Monitoring Optimization: Real-time acquisition of physical data from the robotic arm, including position, temperature, and vibration, and mapping it to a virtual model; Vibration deformation is predicted based on the ADAMS structural dynamics model, and the parameters of the S-shaped acceleration and deceleration curve are adjusted. When the ANSYS thermodynamic model predicts a temperature >80℃, the joint speed is automatically reduced by 20%.

[0018] The technical solution of this invention has the following beneficial effects: 1. Simplify wiring and installation: Reduce wiring: The drive is directly connected to the injection molding machine controller.

[0019] Easy to assemble: When assembling the machine, users can connect to the host via the network port and use Ethernet communication for data exchange, which simplifies the assembly process.

[0020] 2. Improve maintenance efficiency: Rapid fault location: Since the control is centralized in the injection molding machine computer, there is no need to start troubleshooting from the robotic arm handle, which greatly improves the efficiency of fault detection.

[0021] 3. Enhance system flexibility: Custom configuration: Users can configure different parameters through the human-machine interface (HMI) and process the parameters uniformly according to actual functional requirements to adapt to the needs of different machines.

[0022] 4. Optimize resource allocation: High integration: The parameters are uniformly configured by the injection molding machine controller, which realizes a higher degree of system integration and enhances the system's compactness and stability.

[0023] 5. Reduce the error rate: Reduce human error: Centralized management design reduces wiring complexity and the possibility of wiring errors, thereby lowering the probability of system failure and improving system reliability. Attached Figure Description

[0024] Figure 1 This is a system principle block diagram of the present invention; Figure 2 This is a diagram illustrating the triggering time points; Figure 3 This is a schematic diagram of the five-layer architecture of digital twins; Figure 4 This is a diagram illustrating instruction generation; Figure 5 This is the overall flowchart of the present invention. Detailed Implementation

[0025] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, and not all of them.

[0026] Combine Figures 1-5 As shown, this invention provides an integrated design and control system based on a side-grabbing manipulator, the system comprising: The main control computer of the injection molding machine, as the centralized control core, is configured for: Generate motion control parameters for the robotic arm, including position, velocity, acceleration, and deceleration; Real-time monitoring of injection molding cycle status signals, including mold opening → ejection → mold closing; It integrates a human-machine interface (HMI) to provide robot arm parameter setting and status display functions; The robotic arm execution unit includes: The lightweight robotic arm body is made of carbon fiber composite material, which reduces weight by ≥40% compared to steel through topology optimization. At least three integrated drive joints, each joint integrating a brushless motor, harmonic reducer, dual encoders and temperature sensor; Real-time communication bus connects the main control computer of the injection molding machine with the robot execution unit. It uses Ethernet protocol to achieve μs-level synchronous communication. Communication protocols include EtherCAT, PROFINETIRT or Powerlink. The safety interlock module is hardwired to the injection molding machine's main control computer and is configured for: When responding to an emergency stop signal, the injection molding machine is simultaneously triggered to stop mold closing and the robotic arm brake is engaged. Control the robotic arm to retract to a safe position when the safety door opens; The control architecture can adopt a centralized or master-slave control mode: Centralized: The main control computer of the injection molding machine directly controls the servo drive of the robotic arm; Master-slave configuration: The main control computer of the injection molding machine acts as the master station, and the robot controller acts as the slave station, transmitting instructions through process data objects (PDOs).

[0027] The main control computer of the injection molding machine is also equipped with: The dynamic feedforward compensation controller executes the following compensation algorithm: ; Where τ_ff is the feedforward torque and M(q) is the inertia term. For the desired acceleration, Coriolis force term, Let G(q) be the desired velocity, and let G(q) be the gravitational term. The PD feedback corrector is used to correct position errors and achieve a repeatability accuracy of ±0.1mm. Feedback correction calculation: ; In the formula, For positional error, The desired position of the robotic arm joints. Joint position; For speed error, For the desired speed, Joint velocity; Kp is the proportional gain matrix and Kd is the differential gain matrix; Total control torque: .

[0028] The system also includes: The digital twin monitoring system includes: Structural dynamics model, ADAMS / Simulink co-simulation, predicting the vibration and deformation of the robotic arm; Thermodynamic model, ANSYS transient thermal analysis, early warning of motor overheating fault; The data mapping engine synchronizes data between physical entities and virtual models through the OPCUA interface.

[0029] The safety interlock module is further configured as follows: The distance d between the robot arm and the mold is detected in real time. When d < the preset safety threshold, an emergency deceleration of -5m / s² is triggered. When the motor current exceeds 150% of the rated value, the robot's moving speed will automatically decrease to 70% of the current speed.

[0030] The real-time communication bus is EtherCAT, which uses a distributed clock (DC) to achieve μs-level time synchronization with an error of <±1μs, and transmits target position, velocity and acceleration parameters through process data objects (PDO).

[0031] This invention also provides an integrated design and control method based on a side-grabbing manipulator. Based on the above system, the method includes the following steps: S1, Centralized Instruction Generation: Executed in real time by the main control computer of the injection molding machine: Monitor the injection molding cycle status: mold opening → ejection → mold closing; The robot arm's motion commands are automatically calculated based on product parameters, including target position, speed, acceleration, and deceleration. S2, Hard Real-Time Synchronous Control: When the mold opening completion signal is detected, the robot sends an action command to the robot via the real-time communication bus (EtherCAT / PROFINETIRT / Powerlink) within ≤50ms. The command transmission cycle is ≤1ms and the time synchronization error is ≤±1μs. S3, Dynamic feedforward compensation execution: The robotic arm drives the joints to execute the following control laws: Total control torque = feedforward compensation + feedback correction; ; S4, Safety Interlock Response: The default protection action will be executed when any of the following conditions are met: Emergency stop signal: Simultaneously stop the injection molding machine from closing the mold and activate the robotic arm brake (response ≤100ms); Real-time position and mold distance d < safety threshold: trigger emergency deceleration of −5m / s; Motor current > 150% of rated value: Automatic speed reduction to 70% of operating speed.

[0032] The motion command calculation in step S1 specifically includes: The speed is dynamically adjusted based on the product weight (m). Unit: g. ; The acceleration is set to 0.3×v, where v is the adjusted velocity value and v_max is the preset maximum velocity. The velocity unit is mm / s.

[0033] Step S3 further includes: The actual joint angle q_actual is obtained through dual encoders; Calculate the position error e = q_actual − q_target; Achieve repeatability accuracy of ±0.1mm.

[0034] The dynamic feedforward compensation execution in step S3 includes: S-shaped acceleration and deceleration curves are adopted. ; Where a(t) is the instantaneous acceleration that changes with time, t is the current time, t0 and t1 are time offsets, a_max is the maximum acceleration, and α is the smoothing factor.

[0035] The method also includes: step S5, digital twin monitoring optimization: Real-time acquisition of physical data from the robotic arm, including position, temperature, and vibration, and mapping it to a virtual model; Vibration deformation is predicted based on the ADAMS structural dynamics model, and the parameters of the S-shaped acceleration and deceleration curve are adjusted. When the ANSYS thermodynamic model predicts a temperature >80℃, the joint speed is automatically reduced by 20%.

[0036] Example 1: 1. Hardware Architecture Lightweight robotic arm body (carbon fiber composite material, with a weight reduction of ≥40% compared to steel through topology optimization); At least three integrated drive joints, each joint including a brushless motor, a harmonic reducer, dual encoders and a temperature sensor; A feedforward controller based on a dynamic model calculates the inertia term M(q) and Coriolis force term in real time. The gravity term G(q) compensation amount.

[0037] Perform dynamic feedforward compensation: ; Position error is corrected using PD feedback.

[0038] Communication bus: Preferred options: EtherCAT, PROFINETIRT, Powerlink (high real-time performance, µs-level synchronization).

[0039] Alternatives: CANopen, ModbusTCP (low cost, but real-time performance needs to be optimized).

[0040] Control hierarchy: Option A (Centralized): The injection molding machine's computer directly controls the robot's servo drive.

[0041] Option B (Master-Slave): The injection molding machine computer acts as the master station, and the robot controller acts as the slave station, transmitting motion commands in real time through PDO (Process Data Object).

[0042] I / O Module: A unified configuration of safety I / O modules to handle emergency stop and grating signals.

[0043] 2. Real-time synchronization achieved Time-based triggering: Within 50ms of the injection molding machine sending the mold opening completion signal, the robot arm starts the action.

[0044] µs-level time synchronization is achieved using a distributed clock (DC) (EtherCAT feature).

[0045] 3. Security control integration Unified Response: 1. Emergency stop trigger → The injection molding machine immediately stops closing the mold + the robot arm stops moving and applies the brake.

[0046] 2. The safety door opens → the robotic arm automatically returns to the safe position.

[0047] 4. HMI Integration: Add a robotic arm control page to the injection molding machine's touchscreen: The robot arm's position and speed curves are displayed in real time.

[0048] Set the pickup location and speed limit parameters.

[0049] 5. Deep coupling between the five-layer architecture of digital twins and the control system of robotic arms Multidimensional simulation model

[0050] Virtual-Real Synchronization Engine Data mapping protocol: defdigital_twin_sync(physical_data): #Physical Entity → Digital Twin Mapping virtual_model.update( position=physical_data['encoder_pos'], temperature=physical_data['pt1000'], vibration=physical_data['imu_data'] ) #Simulation results reverse output returnvirtual_model.predict_trajectory() Phase debugging process: Pure virtual debugging Injecting faults (such as belt breakage or sudden load changes) into the digital twin. Test the robustness of the control algorithm (fault recovery time ≤ 100ms) Semi-physical debugging PLC connects to the virtual robotic arm model (via OPCUA interface) Verify communication protocol compatibility (EtherCAT jitter ≤ 1μs) Full physical pre-deployment Import the virtual debug parameter package into the physical controller Deployment to achieve "zero production line downtime" 1. Develop a human-computer interface (HMI) Use common programming techniques (such as C, C++, VC++, Verilog, VHDL, etc.) to create user-friendly human-computer interfaces.

[0051] Users can customize parameter layouts through the HMI and handle them uniformly according to actual functional requirements.

[0052] 2. Define the number of drivers and driver model. On the human-machine interface, users can define multiple drivers as needed, with each driver managing one axis.

[0053] 3. Establish communication connection The host is connected to each driver via Ethernet to ensure a high-speed and stable communication rate.

[0054] The closed-loop control chain of "injection molding machine IPC → real-time bus → robot drive" uses the injection molding machine computer (IPC) as the sole decision center to calculate the robot's motion parameters in real time and directly drive the servo system, achieving full control over position, speed, acceleration, and deceleration.

[0055] Workflow details 1. Instruction generation stage (execution by IPC of injection molding machine) 2. Real-time command transmission (EtherCAT bus)

[0056] 3. Servo execution stage (driver → robot arm) Location closed loop: The driver receives the target position and corrects the error in real time via encoder feedback. Repeatability: ±0.1mm 4. Action triggering logic if (injection molding machine status == mold opening completed) { Initiate robotic arm movement; / / Delay < 20ms 5. Kinematic protection Anti-collision mold strategy: Real-time axis detection and mold distance: d = current position - mold CAD model height If d < safety threshold → trigger emergency deceleration (-5m / s²) Overload adaptation: When the motor current exceeds 150% of the rated value, the robot's moving speed will automatically decrease to 70% of the current speed. Workflow Example Scenario: Removing the injection-molded automotive connector Injection molding machine IPC monitoring: Cooling complete → Mold opens → Ejection complete (trigger signal) Motion parameter calculation: Product weight = 85g → Speed ​​= 1200mm / s × (1 - 85 / 1000) = 1098mm / s Acceleration = 0.3 × 10⁹⁸ ≈ 329 mm / s² EtherCAT transmission: The {position:(X320,Y150,Z-50), velocity:1098, acceleration:329} is sent to the driver within 1ms. Robotic arm execution: Accelerate using the S-curve → Grab → Decelerate and Exit (Total time: 1.8 seconds) Security monitoring: The grating detects an intrusion → immediately triggers Z-axis retraction to a safe height (response time ≤ 50ms). Performance guarantee mechanism

[0057] Core advantages: Through "centralized computing + hardware real-time transmission + closed-loop execution," the robotic arm is no longer an independent device, but a high-precision execution end effector of the injection molding machine, ultimately achieving: Cycle time shortened by 10%~15% The risk of mold collision has decreased by 90%. Changeover and setup time reduced from 30 minutes to 10 seconds (parameters and recipes are automatically loaded). The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made under the inventive concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the protection scope of the present invention.

Claims

1. An integrated design and control system based on a side-grabbing manipulator, characterized in that, The system includes: The main control computer of the injection molding machine, as the centralized control core, is configured for: Generate motion control parameters for the robotic arm, including position, velocity, acceleration, and deceleration; Real-time monitoring of injection molding cycle status signals, including mold opening, ejection, and mold closing; It integrates a human-machine interface, providing functions for setting robot arm parameters and displaying status; The robotic arm execution unit includes: The lightweight robotic arm body is made of carbon fiber composite material, which reduces weight by ≥40% compared to steel through topology optimization. At least three integrated drive joints, each joint integrating a brushless motor, harmonic reducer, dual encoders and temperature sensor; Real-time communication bus connects the main control computer of the injection molding machine with the robot execution unit. It uses Ethernet protocol to achieve μs-level synchronous communication. Communication protocols include EtherCAT, PROFINETIRT or Powerlink. The safety interlock module is hardwired to the injection molding machine's main control computer and is configured for: When responding to an emergency stop signal, the injection molding machine is simultaneously triggered to stop mold closing and the robotic arm brake is engaged. Control the robotic arm to retract to a safe position when the safety door opens; The control architecture can adopt a centralized or master-slave control mode: Centralized: The main control computer of the injection molding machine directly controls the servo drive of the robotic arm; Master-slave type: The main control computer of the injection molding machine acts as the master station, and the robot controller acts as the slave station, transmitting instructions through process data objects.

2. The system as described in claim 1, characterized in that, The main control computer of the injection molding machine is also equipped with: The dynamic feedforward compensation controller executes the following compensation algorithm: ； Where τ_ff is the feedforward torque and M(q) is the inertia term. For the desired acceleration, Coriolis force term, Let G(q) be the desired velocity, and let G(q) be the gravitational term. The PD feedback corrector is used to correct position errors and achieve a repeatability accuracy of ±0.1mm. Feedback correction calculation: ; In the formula, For positional error, The desired position of the robotic arm joints. Joint position; For speed error, For the desired speed, Joint velocity; Kp is the proportional gain matrix and Kd is the differential gain matrix; Total control torque: .

3. The system as described in claim 1, characterized in that, The system also includes: A digital twin monitoring system includes: Structural dynamics model, ADAMS / Simulink co-simulation, predicting the vibration and deformation of the robotic arm; Thermodynamic model, ANSYS transient thermal analysis, early warning of motor overheating fault; The data mapping engine synchronizes data between physical entities and virtual models through the OPCUA interface.

4. The system as described in claim 1, characterized in that, The safety interlock module is further configured as follows: The distance d between the robot arm and the mold is detected in real time. When d < the preset safety threshold, an emergency deceleration of -5m / s² is triggered. When the motor current exceeds 150% of the rated value, the robot's moving speed will automatically decrease to 70% of the current speed.

5. The system as described in claim 1, characterized in that: The real-time communication bus is EtherCAT, which uses a distributed clock to achieve μs-level time synchronization with an error of <±1μs, and transmits target position, velocity and acceleration parameters through process data objects.

6. An integrated design and control method based on a side-grabbing manipulator, based on the system described in any one of claims 1-5, characterized in that, The method includes the following steps: S1, Centralized Instruction Generation: Executed in real time by the main control computer of the injection molding machine: Monitor the injection molding cycle status, including mold opening, ejection, and mold closing; The robot arm's motion commands are automatically calculated based on product parameters, including target position, speed, acceleration, and deceleration. S2, Hard Real-Time Synchronous Control: When the mold opening completion signal is detected, the action command is sent to the robot via the real-time communication bus within ≤50ms, with a command transmission cycle of ≤1ms and a time synchronization error of ≤±1μs; S3, Dynamic feedforward compensation execution: The robotic arm drives the joints to execute the following control laws: Total control torque = feedforward compensation + feedback correction; ； S4, Safety Interlock Response: The default protection action will be executed when any of the following conditions are met: Emergency stop signal: Simultaneously stop the injection molding machine from closing the mold and activate the robotic arm's brake; Real-time position and mold distance d < safety threshold: trigger emergency deceleration of −5m / s; Motor current > 150% of rated value: Automatic speed reduction to 70% of operating speed.

7. The method as described in claim 6, characterized in that, The motion command calculation in step S1 specifically includes: The speed is dynamically adjusted based on the product weight (m). Unit: g. ； The acceleration is set to 0.3×v, where v is the adjusted velocity value and v_max is the preset maximum velocity. The velocity unit is mm / s.

8. The method as described in claim 6, characterized in that, Step S3 further includes: The actual joint angle q_actual is obtained through dual encoders; Calculate the position error e = q_actual − q_target; Achieve repeatability accuracy of ±0.1mm.

9. The method as described in claim 6, characterized in that, The dynamic feedforward compensation execution in step S3 includes: S-shaped acceleration and deceleration curves are adopted. ； Where a(t) is the instantaneous acceleration that changes with time, t is the current time, t0 and t1 are time offsets, a_max is the maximum acceleration, and α is the smoothing factor.

10. The method as described in claim 9, characterized in that, The method also includes: Step S5, Digital Twin Monitoring Optimization: Real-time acquisition of physical data from the robotic arm, including position, temperature, and vibration, and mapping it to a virtual model; Vibration deformation is predicted based on the ADAMS structural dynamics model, and the parameters of the S-shaped acceleration and deceleration curve are adjusted. When the ANSYS thermodynamic model predicts a temperature >80℃, the joint speed is automatically reduced by 20%.

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