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Optimal joint acceleration and deceleration calculation method and device, and application thereof

A deceleration and acceleration technology, applied in the field of optimal joint acceleration and deceleration calculation, can solve problems such as difficult, difficult to implement, difficult to manually set, etc., to achieve the effect of improving the robot beat

Active Publication Date: 2021-04-30
ADTECH SHENZHEN TECH
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  • Description
  • Claims
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Problems solved by technology

However, for the setting of joint acceleration and joint deceleration, since the robot dynamics model is a time-varying nonlinear coupling model, it is difficult to manually set to ensure that the motor current of each joint does not exceed a given maximum value
In the scene of multi-point movement, manually setting the optimal acceleration and deceleration of each joint is more difficult and difficult to implement

Method used

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  • Optimal joint acceleration and deceleration calculation method and device, and application thereof
  • Optimal joint acceleration and deceleration calculation method and device, and application thereof
  • Optimal joint acceleration and deceleration calculation method and device, and application thereof

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Embodiment Construction

[0036] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0037] In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, and connection should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0038] The beat of the robot directly affects the efficiency of the industrial field process, and it is of great significance to improve the beat of the robot. There are many way...

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Abstract

The invention discloses an optimal joint acceleration and deceleration calculation method and device, and application thereof, and relates to the field of robot control. The optimal joint acceleration and deceleration calculation method comprises the steps: obtaining a preset main shaft of a target robot, obtaining a first speed parameter corresponding to the target robot, and obtaining a second speed parameter corresponding to the preset main shaft; setting a preset speed parameter corresponding to the preset main shaft based on the first speed parameter and the second speed parameter; conducting speed planning on the preset main shaft according to the preset speed parameter, and calculating target joint torques of an acceleration section and an deceleration section; and performing iterative calculation according to the target joint torques of the acceleration section and the deceleration section to obtain a target acceleration and a target deceleration corresponding to the target robot. Through the method, the optimal joint acceleration and deceleration can be automatically and quickly calculated under the constraint of relevant speed parameters of the robot joint, the performance of a motor is fully achieved, and the beat of the robot is improved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a calculation method, device and application of optimal joint acceleration and deceleration. Background technique [0002] The beat of the robot directly affects the efficiency of the industrial field process, and it is of great significance to improve the beat of the robot. There are many ways to increase the robot cadence, the most direct method is to set a larger robot joint velocity, joint acceleration and joint deceleration. For the setting of the joint speed, it can be set according to the maximum speed of the motor and the reduction ratio. However, for the setting of joint acceleration and joint deceleration, since the robot dynamics model is a time-varying nonlinear coupling model, it is difficult to manually set to ensure that the motor current of each joint does not exceed a given maximum value. In the multi-point motion scene, manually setting the optimal accel...

Claims

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Application Information

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IPC IPC(8): B25J9/16G06F30/20G06F119/14G06F111/04
CPCB25J9/1664B25J9/161G06F30/20G06F2119/14G06F2111/04
Inventor 郭晓彬黄国辉罗欣迟杰恒罗奇
Owner ADTECH SHENZHEN TECH
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