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Robot motion control method and device, electronic equipment and medium

A technology of robot motion and control method, which is applied in the fields of electronic equipment and media, devices, and robot motion control methods. It can solve problems such as trajectory accuracy decline, mechanical vibration, and robot response lag, and achieve the effect of improving response speed.

Active Publication Date: 2021-08-03
GUANGDONG TOPSTAR TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in occasions that require high performance of the robot, this feedback control strategy will cause the robot to respond laggingly and reduce the trajectory accuracy, making it difficult to handle highly dynamic motion scenes, and the control parameters of the robot depend on the servo parameters. When the parameters are unreasonable Easy to cause mechanical vibration

Method used

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  • Robot motion control method and device, electronic equipment and medium
  • Robot motion control method and device, electronic equipment and medium
  • Robot motion control method and device, electronic equipment and medium

Examples

Experimental program
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Effect test

Embodiment 1

[0032] figure 1 It is a flow chart of a robot motion control method provided in Embodiment 1 of the present invention. This method is applicable to control industrial robots moving according to a predetermined trajectory. This method can be executed by a robot motion control device, which can be controlled by software and / or Or hardware implementation, and can be integrated in electronic equipment. Such as figure 1 As shown, the robot motion control method in this embodiment includes the following steps:

[0033] S110. Analyzing the acquired waypoints to obtain robot control compensation instructions, wherein the robot control compensation instructions include position compensation instructions and / or speed compensation instructions.

[0034] At present, in the field of industrial robot motion control, the commonly used servo three-loop feedback control strategy is to use the error value to control the motion of the robot through the feedback strategy. Although this control ...

Embodiment 2

[0042] image 3It is a flow chart of another robot motion control method provided in Embodiment 2 of the present application. The embodiments of the present invention further optimize the foregoing embodiments on the basis of the foregoing embodiments, and the embodiments of the present invention may be combined with various optional solutions in the foregoing one or more embodiments. Such as image 3 As shown, the robot motion control method provided in the embodiment of the present invention may include the following steps:

[0043] S310. Carry out kinematic inverse solution to the obtained path points, and respectively obtain the position path points of each joint of the robot

[0044] Among them, kinematics inverse solution refers to the process of solving the motion parameters of each joint of the robot according to the given position and attitude of the end effector of the robot relative to the reference coordinate system that meets the work requirements. The joint of...

Embodiment 3

[0070] Figure 5 It is a flow chart of another robot motion control method provided in Embodiment 3 of the present application. The embodiments of the present invention further optimize the foregoing embodiments on the basis of the foregoing embodiments, and the embodiments of the present invention may be combined with various optional solutions in the foregoing one or more embodiments. Such as Figure 5 As shown, the robot motion control method provided in the embodiment of the present invention may include the following steps:

[0071] S510. Analyze the obtained path points to obtain robot control compensation instructions, where the robot control compensation instructions include position compensation instructions, speed compensation instructions, and acceleration compensation instructions.

[0072] Among them, such as figure 2 As shown, when analyzing the obtained waypoints, an acceleration compensation command can also be obtained.

[0073] In an optional solution of...

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Abstract

The embodiment of the invention discloses a robot motion control method and device, electronic equipment and a medium. The method comprises the steps that acquired path points are analyzed, and robot control compensation instructions are obtained, wherein the robot control compensation instructions comprise position compensation instructions and / or speed compensation instructions; a position loop and / or a speed loop of a servo three-loop feedback control system are / is compensated according to the robot control compensation instructions; and a robot is controlled to move based on the compensated servo three-loop feedback control system. By executing the technical scheme, the technical effect of improving the response speed, the track precision, the motion stability and other dynamic characteristics of the industrial robot can be achieved.

Description

technical field [0001] The embodiments of the present invention relate to the field of industrial robot control, in particular to a robot motion control method, device, electronic equipment and media. Background technique [0002] In the field of industrial robot motion control, most controllers adopt servo three-loop feedback control strategy. This strategy sends the joint position information obtained by the interpolator directly to the servo position loop, compares it with the encoder feedback value, and uses the error value for control. However, in occasions that require high performance of the robot, this feedback control strategy will cause the robot to respond laggingly and reduce the trajectory accuracy, making it difficult to handle highly dynamic motion scenes, and the control parameters of the robot depend on the servo parameters. When the parameters are unreasonable It is easy to cause mechanical vibration. Contents of the invention [0003] Embodiments of th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1651
Inventor 陈金民赵磊祁行吴丰礼
Owner GUANGDONG TOPSTAR TECH
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