Trajectory tracking control methods and trajectory tracking systems

Abstract

The invention discloses four trajectory tracking control methods and corresponding trajectory tracking systems. The four trajectory tracking control methods are consistent in basic ideas. Concretely,trajectory information which is described by a sensor coordinate system and obtained by the sensor is fixed, namely, the information is transformed to the form that is suitable for integrated description of the coordinate system of the trajectory information for marking, the real trajectory is presented gradually, basis is provided for subsequent target resolution, an ideal state that should be presented by a tool at present time or state that needs to be achieved in next correction time after correction of present time is found according to a target, and the trajectory of the tool is corrected by driving an executor according to the above information. Thus, errors caused by advancing of detection points are overcome, independent operation independent demonstration information is achieved,the positional error as well as the attitude error of the tool can be corrected, and a trajectory tracking effect is good.

Description

technical field [0001] The invention relates to the technical field of trajectory automatic tracking, in particular to a trajectory tracking control method in which a sensor is driven by a sensor branch chain and a tool is driven by a tool branch chain, and a trajectory tracking system for realizing the trajectory tracking control method. Background technique [0002] Welding, gluing, cutting and other operations are similar routine operations, and their common feature is to operate along a specific trajectory. If the specific trajectory position can be detected by sensors, the trajectory can be adjusted by robots and other actuators. Tracking to automate jobs. [0003] Advanced ones in existing trajectory tracking systems use sensors to track trajectories, for example, arc welding robot systems use structured light vision sensors to track trajectories. The actuator in the trajectory tracking system itself has a task trajectory predetermined by means of teaching information...

AI Technical Summary

Problems solved by technology

This method is based on the track deviation information detected by the sensor. If it is unbiased and not corrected, then even if there is no deviation in the current position of the tool, after advancing according to the predetermined task track, the tool position will also deviate at the next moment, so the whole process cannot be realized theoretically. Unbiased tracking can only reduce the deviation to no more than the new deviation caused by each step forward, so the purpose of trajectory tracking can be better achieved only when the radius of curvature of the trajectory is large or the fluctuation of the trajectory is small, but If the radius of curvature of the trajectory is small or the fluctuation of the trajectory is large, the trajectory tracking will produce a large trajectory tracking error, and even the purpose of trajectory tracking cannot be achieved.

At present, it is cumbersome to set up a tracking system, and for trajectories, especially space curve trajectories, there is no general trajectory tracking control method and a trajectory tracking system that implements the trajectory tracking control method.

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