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A motion control method for a robot, a servo controller and a readable storage medium

A technology of motion control and robotics, applied in the field of robotics, can solve problems such as large speed jitter

Active Publication Date: 2022-01-18
SHANGHAI STEP ELECTRIC +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0009] The inventors of the present application have found that there are at least the following problems in the prior art: when running at low speed, the motor stops and starts, and the speed jitters greatly

Method used

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  • A motion control method for a robot, a servo controller and a readable storage medium
  • A motion control method for a robot, a servo controller and a readable storage medium
  • A motion control method for a robot, a servo controller and a readable storage medium

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Embodiment Construction

[0032] For purposes of the present invention, technical solutions, and advantages of the embodiments more clearly, the following respective embodiments of the present invention will be set forth in detail in conjunction with the accompanying drawings. However, those of ordinary skill in the art will be appreciated, in the embodiments of the present invention, in order to make the reader a better understanding of the present application proposed many technical details. However, without these technical details and various changes and modifications based on the following embodiments, the present application may be implemented as claimed technical solution.

[0033] A first embodiment of the present invention relates to motion control method of a robot. Position command in this embodiment is a pulse sequence command, may be particularly a rising or falling pulse. Its processes as Figure 4 Shown as follows:

[0034] Step 401, history acquisition position command receiving time.

[0035...

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Abstract

The embodiment of the invention relates to the field of robots, and discloses a motion control method of a robot, a servo controller and a readable storage medium. The motion control method of the robot of the present invention includes: obtaining the receiving time of the historical position command; estimating the receiving time of the next position command according to the receiving time of the historical position command; arriving at the estimated receiving time of the next position command Before, the motor movement is controlled multiple times, and the sum of the movement amount specified by the multiple control is related to the unit movement amount specified by the position command, so that the motor moves smoothly and coherently at low speed, and the vibration is minimized.

Description

Technical field [0001] Example The present invention relates to the field of robotics, in particular, it relates to the motion control of the robot. Background technique [0002] The main task of the industrial robot motion control system is to control the position of the robot in the working space, and posture trajectory and the operation sequence of the operation time. It also has a simple programming software menu operation, friendly user interface, on-line operation prompt and easy to use features. [0003] The number of degrees of freedom of the robot depends on the level of its movable joints, the more the number of joints, the higher the degree of freedom of displacement is also more excellent accuracy, then the number of servo motors must be used for relatively large; in other words, the more sophisticated industrial robot, the number of servo motors in which the more general multi-axis robot for each controlled by a control system, the controller also means higher perfor...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D3/12H02P23/03H02P23/04
CPCH02P23/03H02P23/04G05D3/12
Inventor 李虎修丁信忠刘虎刘康
Owner SHANGHAI STEP ELECTRIC
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