Robot track synchronous control method and computer readable storage medium

Abstract

The invention discloses a robot track synchronous control method which comprises the following steps of: performing closed-loop control on a position and a posture (that is, a pose) of the tail end of a robot by adopting a second-order system of a mass spring damping model to obtain a linear acceleration and an angular acceleration in a Cartesian space; converting the linear acceleration and the angular acceleration in the Cartesian space to a joint speed and a joint acceleration of the robot; if deviations exist between the pose and the joint speed of the tail end of the robot and set values, introducing an inner ring control loop, and controlling each joint of the robot to accelerate and decelerate according to the joint acceleration; and in each control interpolation period of the robot, according to the deviation between the set pose and the actual pose of the tail end of the robot, calculating the joint acceleration of each joint, and enabling the joint acceleration to be acted on a controller of the inner ring control loop of the robot. In the method disclosed by the invention, movement of each joint of the robot is adjusted in real time according to the deviation between the feedback pose of the tail end of the robot and a theoretical pose, and the track precision of the robot is improved.

Description

technical field [0001] The invention relates to the technical field of robot synchronous control, in particular to a method for synchronous control of robot trajectory and a computer-readable storage medium. Background technique [0002] Whether it has high trajectory accuracy is one of the important indicators to measure the performance of the robot. There are four types of robot motion: joint interpolation motion, linear interpolation motion, circular interpolation motion, and spline interpolation motion. Taking the motion from point A to point B as an example, except for joint interpolation motion, only the robot needs to be controlled Accurate movement to the end point B, the other three interpolation motions also need to accurately control the motion trajectory (trajectory accuracy) from the starting point A to the end point B. The trajectory accuracy of the robot is affected by the accuracy of the robot kinematics parameters, robot speed, and robot joints. The synchro...

AI Technical Summary

Problems solved by technology

When the position of the robot changes, the moments of inertia and friction of each axis of the robot change, and the above PID parameters cannot make the responses of each joint to the command approximately the same, so the synchronization of the robot position cannot be guaranteed.

[0004] That is to say, the above-mentioned three-loop PID control method is essentially to independently control each joint of the robot in a closed-loop manner, and there are defects that each joint of the robot follows instructions differently, and some axes are fast while others are slow, resulting in poor joint synchronization and robot trajectory Accuracy cannot be guaranteed

Images