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Optimal control method and system for acceleration and deceleration motion of industrial manipulator

A technology for acceleration and deceleration control and industrial machinery, applied in general control systems, control/regulation systems, comprehensive factory control, etc., can solve problems such as inability to dynamically modify processes, lack of flexibility and interactivity, and cumbersome configuration processes

Active Publication Date: 2022-07-12
深圳市朗宇芯科技有限公司
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

Although the existing robot control system meets the requirements of openness to a certain extent, it lacks flexibility and interactivity, the configuration process is cumbersome, and the process cannot be dynamically modified

Method used

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  • Optimal control method and system for acceleration and deceleration motion of industrial manipulator
  • Optimal control method and system for acceleration and deceleration motion of industrial manipulator
  • Optimal control method and system for acceleration and deceleration motion of industrial manipulator

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Embodiment Construction

[0066] In order to understand the above objects, features and advantages of the present invention more clearly, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments may be combined with each other in the case of no conflict.

[0067] Many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific details disclosed below. Example limitations.

[0068] figure 1 A flow chart of the method for optimizing the acceleration and deceleration motion of an industrial manipulator according to the present invention is shown.

[0069] like figure 1 As s...

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Abstract

The invention discloses an optimization control method and system for the acceleration and deceleration motion of an industrial manipulator, wherein the method for optimizing the acceleration and deceleration motion of an industrial manipulator comprises: acquiring kinematic parameters and a processing path of the industrial manipulator, and obtaining the kinematic parameters and processing path of the industrial manipulator, and obtaining the kinematic parameters of the industrial manipulator through the kinematic parameters. Build an acceleration and deceleration control model; process the machining path into micro-segments and obtain the mutation point in the machining path, and set constraints according to the kinematic parameters and the geometric features of the machining path; calculate the speed of the mutation point through the constraint conditions Planning, generating the maximum running speed of the industrial manipulator at the locus of the trajectory; sending the maximum running speed to the interpolation module, and realizing the error compensation of the error acceleration and deceleration movement through the interpolation module. The invention ensures the continuous operation of the industrial manipulator by planning the speed of the turning point in the processing path, and simultaneously improves the control efficiency of the acceleration and deceleration movement.

Description

technical field [0001] The invention relates to the technical field of automation control, and more particularly, to an optimization control method and system for acceleration and deceleration motion of an industrial manipulator. Background technique [0002] With the rapid development of my country's economy, high-precision instruments, aerospace and other industries have higher and higher requirements for high-speed, high-precision and flexible processing technology of CNC systems. At present, the industrial robot control industry is facing unprecedented development opportunities and severe challenges. Although the existing robot control system meets the requirements of openness to a certain extent, it lacks flexibility and interactivity, the configuration process is cumbersome, and the process cannot be dynamically modified. For the motion control system, in order to ensure the accuracy of the motion and improve the efficiency, it is not only required to be able to contr...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042Y02P90/02
Inventor 章林宋鹏程邓进锋
Owner 深圳市朗宇芯科技有限公司
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