Industrial mechanical arm execution end track control method

Abstract

The invention provides an industrial mechanical arm execution end track control method. The method comprises the steps of (1) acquiring mechanical structure parameters of an industrial mechanical arm execution end, determining a jacobian matrix according to the mechanical structure parameters and initializing the gridding precision epsilon; (2) determining the motion track of the industrial mechanical arm execution end according to the machining requirements; (3) calculating the reference location variable (shown as the formula) of an operating space according to the jacobian matrix at the moment k+1; (4) conducting quadratic optimization approximation constraint on an objective function with the reference location variable (shown as the formula) of the operating space at the moment k+1, and obtaining the actual position variable Xk+1 of the operating space at the moment k+1 and the input control quantity uk of a joint space at the moment k; and (5) enabling the industrial mechanical arm execution end to conduct track motion according to the actual position variable Xk+1 of the operating space at the moment k+1 and the input control quantity uk of a joint space at the moment k.

Description

technical field [0001] The invention relates to the field of industrial control, and in particular to a trajectory control method of an execution end of an industrial mechanical arm. Background technique [0002] Industrial robotic arms are widely used in welding, painting, stacking, and assembly, and have become an indispensable intelligent equipment in industrial production. Industrial robot is a very complicated multi-input multi-output nonlinear system with time-varying, strong coupling and nonlinear dynamic characteristics. The influence of uncertain factors such as load change and mechanical disturbance makes its control more complicated. The rapid development of Industry 4.0 requires high-quality industrial robots to serve it. The control strategy for stability and efficiency has become a difficult point in the research of industrial robots. [0003] Discontinuous movement and frequent switching of control servos may cause the movement track of the industrial robot...

AI Technical Summary

Problems solved by technology

[0003] Discontinuous movement and frequent switching actions of the control servo may cause jitter in the motion track of the actuator of the industrial robot arm. This jitter may cause mechanical wear of the actuator and failure of high-frequency dynamic response

At present, the control strategy of most industrial robots is to perform PID control on independent joints. The main disadvantage of this control method is that the feedback gain is a predetermined constant, and it cannot change the feedback gain when the payload changes. When the robot joint rotates at high speed, Its dynamic effect is very obvious

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