Segmented linear control method for redundant degree robot external shaft
By using a piecewise linear control method for the external axis of a redundant degree-of-freedom robot, the fixed projection distance strategy of the external axis is optimized to achieve uniform motion, solving the problem of frequent acceleration and deceleration in traditional control and improving the stability and accuracy of the system.
CN122143031APending Publication Date: 2026-06-05SOUTHWEST UNIVERSITY FOR NATIONALITIES
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SOUTHWEST UNIVERSITY FOR NATIONALITIES
- Filing Date
- 2026-04-14
- Publication Date
- 2026-06-05
Smart Images
Figure CN122143031A_ABST
Abstract
The application discloses a kind of redundant degree robot external shaft segmented linear control method, belong to robot linear external shaft control technical field, the present application is by optimizing external shaft fixed projection distance strategy, realize external shaft segmented uniform speed control, effectively solve the problem of frequent acceleration and deceleration of large inertia system, significantly improve the transport smoothness of large inertia external shaft, by segmented uniform speed control ensure that the error of optimized position and original curve is controllable, movement is more stable;At the same time, robot system stability is significantly improved, segmented uniform speed control makes redundant degree system movement more smooth, reduces end shake, so that the overall operation stability is greatly improved.
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