CN111880473A - Motion control method, system, device, robot and storage medium - Google Patents
Motion control method, system, device, robot and storage medium Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The application relates to the field of industrial automation, in particular to a motion control method, a motion control system, a motion control device, a robot and a storage medium. The Sigmoid function is modified into a velocity planning curve, and the highest velocity which can be reached is determined by linear acceleration and deceleration movement without integration. This simplifies the calculation, and makes the speed planning have the fast speed of linear acceleration and deceleration and the flexibility of S curve. The S curve is infinitely conductive, so that the problem of torque fluctuation does not exist, the modified motion planning curve has the same displacement value with the linear acceleration and deceleration curve in the same time, and the rapidity of motion is ensured. The application has compromise the rapidity and the stationarity of industrial robot motion.
Description
Technical Field
The application relates to the field of industrial automation, and relates to a motion control algorithm of an industrial robot, in particular to a motion control method, a motion control system, a motion control device, a robot and a storage medium.
Background
Industrial automation refers to the general term for information processing and process control of machine equipment or production processes according to the desired objectives without human direct intervention. The 50 th to 70 th century is the starting stage of the automated development in China, and the industrial production mainly takes manpower as the main part; in the 80 to 90 years, foreign capital and technology are introduced into the Chinese market, so that the development of industrial automation in China is promoted, automatic production lines are gradually appeared, and the gradual maturity of the industrial automation in China is marked; with the change of market environment in the end of 90 s, the automation technology is required to develop the dispersed unit modules towards higher integration level, and the maximum efficiency is exerted; industrial automation has developed to the present, and integration, networking and intelligence have become new directions of industry, but the intelligence of industrial control equipment is still in the primary stage.
In the development process of the intellectualization of industrial control equipment, a motion control algorithm of an industrial robot is a bottleneck for restricting the development of the robot in China all the time, and is a technical subject with the greatest difference from foreign countries. The 'fast, accurate and stable' of the motion control algorithm of the industrial robot becomes three main indexes for evaluating the performance of the robot. In the related art, an industrial robot performs motion planning by using a linear acceleration and deceleration algorithm.
In view of the above-mentioned related technologies, the inventor believes that there are defects that when an industrial robot performs joint trajectory tracking, the industrial robot often generates severe vibration and shock.
Disclosure of Invention
In order to improve the motion stability of the industrial robot, the application provides a motion control method, a motion control system, a motion control device, a robot and a storage medium.
In a first aspect, the present application provides a motion control method, which adopts the following technical scheme:
s1, performing primary planning of a linear acceleration and deceleration speed curve by using input workpiece program data, wherein the primary planning comprises a uniform speed change stage;
s2, performing Sigmoid curve replacement on the uniform speed change stage of the initial planning of the linear acceleration and deceleration speed curve by using a Sigmoid function, and obtaining the speed value of the Sigmoid curve;
s3, interpolating the velocity value of the Sigmoid curve to obtain an interpolated position value;
and S4, sending the position value obtained by interpolation to a motion control driver to control the servo mechanism.
By adopting the technical scheme, the simple primary plan of linear acceleration and deceleration is generated according to the workpiece program data, because the acceleration of the linear acceleration and deceleration is a certain constant value, the motion process of the industrial robot always comprises the process of accelerating from zero to a certain speed and decelerating from the certain speed to zero, therefore, the uniform speed change stage generally comprises a uniform acceleration stage and a uniform deceleration stage, and because the acceleration between the uniform acceleration stage and the uniform speed stage or the uniform deceleration stage has the condition of sudden change, the joint of the industrial robot has larger torque fluctuation when the industrial robot is started and stopped at a high speed, and the operation of the industrial robot is not stable enough. In the application, the uniform speed changing stage of linear acceleration and deceleration can be replaced by a Sigmoid curve, and the stability of the motion of the industrial robot is considered; the Sigmoid curve is infinitely derivable, so that the problem of torque fluctuation does not exist, a speed value is obtained through calculation according to the value range of the Sigmoid curve, then the speed value is interpolated, and the servo mechanism is driven by the interpolated position value. Due to the symmetry of the Sigmoid curve graph, polynomial planning is not needed in the stages of acceleration, speed and the like in the Sigmoid curve, so that the method can convert the speed planning of uniform speed change into the Sigmoid curve through simple image change without complex operation. In addition, the problem that no uniform velocity section may occur when a 3 rd-order polynomial or a 5 th-order polynomial type S curve is used, the motion speed is influenced, the Sigmoid curve replaced by the method has the same displacement value with a linear acceleration and deceleration curve in the same time, and the rapidity of motion is guaranteed.
Preferably, the initial planning further includes a uniform speed stage.
By adopting the technical scheme, the acceleration is close to 0 when the Sigmoid curve reaches the maximum speed value, so that after the uniform speed changing stage is replaced by the Sigmoid curve, the connection between the Sigmoid curve and the uniform speed stage is smooth, the stable motion of the industrial robot is ensured, and the rapidity of the motion is ensured.
Preferably, the S2 includes the following steps:
s21, acquiring a uniform variable speed stage in the initial planning;
s22, replacing a uniform speed change stage of a speed curve by a Sigmoid curve, wherein the integral area of the Sigmoid curve is equal to the integral area of the uniform speed change stage;
an acceleration curve in the Sigmoid curve is S (t) ═ (reachMaxSpd)/(1+ e ^ Δ t), wherein reachMaxSpd is the maximum speed which can be reached in a uniform speed change stage in primary planning;
and S23, acquiring speed values of time variables of the replaced Sigmoid curve.
By adopting the technical scheme, the Sigmoid curve performs equal-integral-area replacement on the uniform speed change stage, so that the replaced motion planning curve can realize stable and rapid operation of the industrial robot; the maximum value of the acceleration curve is the maximum speed which can be reached in the uniform speed changing stage in the primary planning; the value of s (t) corresponding to the change of the time variable Δ t is the speed value. The arrangement has the advantages of simple operation, small operation amount and easy understanding.
Preferably, before step S22, the method further includes the following steps:
s211, obtaining acceleration and deceleration time acc _ time based on a uniform speed change stage;
by adopting the technical scheme, the time for accelerating the uniform acceleration speed from zero to the maximum value in the uniform speed change or the time for decelerating the uniform acceleration speed from the maximum value to zero is the acceleration and deceleration time acc _ time.
Preferably, the following steps are further included after step S22:
s221, obtaining a preset adjusting constant b, wherein the adjusting constant b is used for shifting the Sigomid curve to the right by b units so that a time value t is taken from 0;
calculating a time constant c based on an adjusting constant b and an acceleration and deceleration time acc _ time, wherein c is 2b/acc _ time, and the time value is t [0, acc _ time ], so as to obtain the product of the time value t and the time constant c;
s222, a time variable Δ t is calculated based on the time value t, the time constant c, and the adjustment constant b, where the time variable Δ t is b-2b · t/acc _ time.
By adopting the technical scheme, when the time value t of the Sigmoid curve is equal to 0, the speed value is close to 0 or close to the maximum speed reachMaxSpd which can be reached in the uniform speed change stage in the primary planning, the value range of the time variable delta t is symmetrical about the far point of the axis, namely, the delta t is equal to [ -b, b ], the time value t can reach the time acc _ time of acceleration and deceleration action from 0 by the set action, and the corresponding S (t) is increased to reachMaxSpd from 0, so that the effects of facilitating understanding and reducing the calculated amount are achieved.
In a second aspect, the present application provides a visual dynamic following control system, which adopts the following technical solutions:
a visual dynamic follow control system, comprising:
the primary planning module is used for carrying out primary planning on a linear acceleration and deceleration speed curve by using input workpiece program data, and the primary planning comprises a uniform speed change stage;
the Sigmoid curve module is used for replacing a Sigmoid curve with a Sigmoid function in a uniform speed change stage of the initial planning of a linear acceleration and deceleration speed curve and obtaining a speed value of the Sigmoid curve;
the interpolation module is used for interpolating the speed value of the Sigmoid curve to obtain an interpolated position value;
and the driving module is used for sending the position value obtained by interpolation to the motion control driver so as to control the servo mechanism.
By adopting the technical scheme, the visual dynamic following control system firstly generates a simple primary plan of linear acceleration and deceleration according to workpiece program data, then performs Sigmoid curve replacement by using a Sigmoid function at the uniform speed change stage of the simple primary plan, obtains the speed value of the Sigmoid curve, and then realizes the driving of a servo mechanism by using the interpolated position value through speed value interpolation. The highest speed that can be reached is determined by the linear acceleration and deceleration movement without integration. Therefore, the operation is simplified, the speed planning has the high speed of linear acceleration and deceleration, and the flexibility of a Sigmoid curve is achieved. Therefore, the speed value is directly calculated according to the S (t) function, the speed is not required to be calculated through acceleration integration, the operation is further simplified, the acceleration is also a smooth Sigmoid curve, and the jerk is also a smooth Sigmoid curve, so that the S (t) is infinitely conductive, the continuity of the speed, the acceleration and the jerk is ensured, and the visual dynamic following control system can work stably and quickly.
In a third aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:
a computer-readable storage medium storing a computer program that can be loaded by a processor and executes a motion control method as described.
In a fourth aspect, the present application provides a control device for a visual dynamic following system, which adopts the following technical solutions:
a visual dynamic following system control apparatus comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and executed to perform a motion control method as described above, or comprising any one of a visual dynamic following control system as described above, a computer readable storage medium as described above.
By adopting the technical scheme, the visual dynamic following system control device can store the computer program of the motion control method and can be loaded by the processor.
In a fifth aspect, the present application provides an industrial robot, which adopts the following technical solution:
an industrial robot comprising the visual dynamic following system control device described above, or comprising any one of a visual dynamic following control system described above, a computer readable storage medium described above, a visual dynamic following system control device described above.
By adopting the technical scheme, the motion control method is applied to the industrial robot, so that the industrial robot gives consideration to rapidity and stability of motion. The Sigmod curve is infinitely conductive, so that the problem of torque fluctuation does not exist, and the Sigmod curve has the same displacement value with a linear acceleration and deceleration curve in the same time, so that the rapidity of motion is ensured.
Preferably, a horizontal multi-joint mechanical arm and/or a six-axis robot is included.
By adopting the technical scheme, the horizontal multi-joint mechanical arm and the six-axis robot are widely applied to the industry, and meanwhile, the robot is programmable and has good compatibility with a computer program of a motion control method.
Drawings
FIG. 1 is a step diagram of a motion control method according to an embodiment of the present application.
FIG. 2 is a graph of the motion of a triangular velocity profile according to an embodiment of the present application.
FIG. 3 is a graph of motion curves for a trapezoidal velocity profile according to an embodiment of the present application.
Fig. 4 is a graph of a Sigmoid function of an embodiment of the present application.
Fig. 5 is a diagram illustrating steps in step 2 of a motion control method according to an embodiment of the present application.
Fig. 6 is a graph illustrating a progressive programming of a Sigmoid curve according to an embodiment of the present application.
Fig. 7 is a schematic block diagram of a visual dynamic following control system according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to figures 1-7.
The embodiment of the application discloses a motion control method.
Referring to fig. 1, a motion control method includes the steps of:
and S1, performing primary planning of a speed curve of linear acceleration and deceleration by using the input workpiece program data.
The workpiece program data comprises a starting point of the motion position of the industrial robot and an end point of the position, and the motion path of the industrial robot is determined according to the starting point of the motion position of the industrial robot and the end point of the position. The more common initial stages of linear acceleration and deceleration include triangular velocity and trapezoidal velocity planning.
Referring to fig. 2, taking a triangular velocity plan as an example, the primary plan of the industrial robot includes a uniform speed change section, the uniform speed change section includes a uniform acceleration stage and a uniform deceleration stage, and the uniform speed change section is linearly changed, and the expression of the triangular velocity plan is a piecewise function of two stages:
wherein the velocity value V (t) is the time value t between t 0-t2And a is the acceleration of the uniform acceleration stage, d is the acceleration of the uniform acceleration stage, and both a and d are larger than 0. reachMaxSpd is the maximum speed achievable by the ramp segment in the primary plan. When t is equal to t1V (t) reachMaxSpd.
Referring to fig. 3, when the motion path of the industrial robot is long, the initial planning further includes a uniform velocity phase. Taking a trapezoidal speed plan as an example, the trapezoidal speed plan is divided into three stages, the speed of the acceleration and deceleration stage is linearly changed, and the expression of the trapezoidal speed plan speed is a piecewise function of the three stages:
wherein a is the acceleration in the uniform acceleration stage, and d is the uniform acceleration stageThe acceleration of the segment, a, d, is greater than 0. reachMaxSpd is the speed of the uniform speed stage, t0 is the initial time of the uniform acceleration stage, t1To the end of the ramp-up phase, t2Is the initial time of the uniform velocity phase, t3Is the end time of the uniform deceleration phase.
As can be seen from equations (1), (2) or (3), (4), the acceleration a (t) of the triangular velocity plan or the trapezoidal velocity plan jumps at times t equal to t0, t1, t2 and t 3. The jerk of the acceleration causes the industrial robot to generate severe vibration and shock.
Referring to fig. 1 and 4, S2, in the uniform speed change stage of the initial planning of the linear acceleration and deceleration speed curve, a Sigmoid function is used to replace the Sigmoid curve, and the speed value of the Sigmoid curve is obtained.
Wherein, the expression of the Sigmoid function is:
S(t)＝1/(1+e^Δt)
where s (t) is the velocity value of the Sigmoid curve and Δ t is the time variable associated with the time value.
Referring to fig. 5, further, S2 further includes the following steps:
and S21, acquiring a uniform variable speed stage in the initial planning. Specifically, a uniform acceleration stage or a uniform deceleration stage in the primary plan may be selected.
Further, before step S22, the method further includes the following steps:
s211, obtaining the acceleration and deceleration time acc _ time based on the uniform speed change stage.
Specifically, in the formulas (1) and (2), the time taken for t0 to t1 and t1 to t2 is acc _ time. In (3) and (4), the time taken for t0 to t1 and t2 to t3 is acc _ time.
And S22, replacing the uniform speed changing stage of the speed curve of linear acceleration and deceleration by the Sigmoid curve.
When the speed curve of the linear acceleration and deceleration is in the uniform acceleration stage, the Sigmoid curve corresponds to the acceleration curve, and the reachMaxSpd is known to be the maximum speed which can be reached by the uniform acceleration stage in the primary plan according to the motion curve of the linear acceleration and deceleration, so that the acceleration curve is close to the reachMaxSpd, and the expression is as follows:
S(t)＝(reachMaxSpd)/(1+e^Δt)
when the speed curve of the linear acceleration and deceleration is in the uniform deceleration stage, the Sigmoid curve corresponds to a deceleration curve, and the expression of the deceleration curve is as follows:
S(t)＝reachMaxSpd-(reachMaxSpd)/(1+e^Δt)
further, the following step is included after S22:
referring to fig. 5 and 6, in step S221, a preset adjustment constant b is obtained, where the adjustment constant b is used to shift the sigmoid curve to the right by b units, so that the time value t is taken from 0.
The value of the adjusting constant b can be 1, 2, 4, 8, 9, 10, 13, 16, or other values. The adjusting constant b can be determined according to the actual production condition and the acceleration and deceleration time.
And calculating a time constant c based on the adjusting constant b and the acceleration and deceleration time acc _ time, wherein c is 2b/acc _ time, and the time value is t [0, acc _ time ], so as to obtain the product of the time value t and the time constant c.
S222, based on the time value t, the time constant c, and the adjustment constant b, a time variable Δ t is calculated, where Δ t is b-2b · t/acc _ time.
So set, when t ═ 0, acc _ time ], the speed can increase from 0 to reachMaxSpd or decrease from reachMaxSpd to close to 0, and s (t) increases from 0 to reachMaxSpd with the corresponding (b-tc) value of b to-b.
Thus, the acceleration curve described above is:
S(t)＝(reachMaxSpd)/[1+e^(b-tc)]
the deceleration curve described above is:
S(t)＝reachMaxSpd-(reachMaxSpd)/[1+e^(b-tc)]
and S23, calculating the speed value of each time variable of the Sigmoid curve after replacement according to the acceleration curve or the deceleration curve.
Referring to fig. 1, in S3, the velocity value of the Sigmoid curve is interpolated to obtain an interpolated position value.
Since the motion of the industrial robot is generally a linear motion, a path from a start point to an end point of the motion position of the industrial robot is a position value corresponding to a velocity value, and thus, the position value corresponding to a time value can be obtained by integrating the acceleration curve.
Integration of the acceleration curve:
when a linear acceleration and deceleration motion curve is adopted, if the acceleration and deceleration time is acc _ time, the acceleration distance is as follows:
therefore, the integral area of the Sigmoid curve is equal to the integral area of the uniform acceleration stage; similarly, the integral area of the Sigmoid curve is equal to the integral area of the uniform deceleration stage by integrating the deceleration curve, so that the integral area of the Sigmoid curve is equal to the integral area of the uniform speed change stage.
And S4, sending the position value obtained by interpolation to a motion control driver to control the servo mechanism.
When the motion control driver is a servo driver, the servo mechanism is a servo motor; when the motion control driver is a stepping driver, the servo mechanism is a stepping motor; when the motion control driver is a variable frequency driver, the servo mechanism is a variable frequency motor.
The implementation principle of the motion control method in the embodiment of the application is as follows: the method and the device plan the motion of the industrial robot on the basis of the Sigmoid function, and improve the motion stability of the industrial robot; because the integral area of the Sigmoid curve is equal to the integral area of the uniform speed change stage, the highest speed which can be reached can be determined through linear acceleration and deceleration movement, and integral calculation through the Sigmoid curve is not needed, so that the operation is simplified, and meanwhile, the Sigmoid curve has the advantages of high linear acceleration and deceleration speed and flexibility of the Sigmoid curve.
The embodiment of the application also discloses a visual dynamic following control system.
Referring to fig. 7, the visual dynamic following control system includes a preliminary planning module, a Sigmoid curve module, an interpolation module, and a driving module.
The initial planning module is used for performing primary planning on a linear acceleration and deceleration speed curve by using input workpiece program data. The primary plan includes a uniform speed change phase and a uniform speed phase.
And the Sigmoid curve module replaces the first-order planning uniform speed change stage of the linear acceleration and deceleration speed curve with a Sigmoid function to obtain the speed value of the Sigmoid curve.
And the interpolation module interpolates the speed value of the Sigmoid curve to obtain an interpolated position value.
The interpolation, namely the vision dynamic following control system determines the process of the motion trail of the industrial robot according to the motion control method in the application. The interpolation method includes: linear interpolation, circular interpolation, parabolic interpolation, spline interpolation, etc.
And the driving module sends the position value obtained by interpolation to the motion control driver to control the servo mechanism.
When the motion control driver is a servo driver, the servo mechanism is a servo motor; when the motion control driver is a stepping driver, the servo mechanism is a stepping motor; when the motion control driver is a variable frequency driver, the servo mechanism is a variable frequency motor.
The implementation principle of the control device of the visual dynamic following system in the embodiment of the application is as follows: the vision dynamic following control system firstly generates a simple linear acceleration and deceleration primary plan according to workpiece program data, then performs Sigmoid curve replacement by using a Sigmoid function at a uniform speed change stage of the simple primary plan, obtains a speed value of the Sigmoid curve, and then realizes the driving of a servo mechanism by using an interpolated position value through speed value interpolation, so that an algorithm for enabling the robot to move stably and quickly can be generated, and the robot can move stably and quickly.
The embodiment of the application also discloses a computer readable storage medium.
A computer readable storage medium storing a computer program that can be loaded by a processor and executes a motion control method.
The implementation principle of the computer-readable storage medium in the embodiment of the application is as follows: a computer program is stored which can be loaded by a processor and which executes a motion control method, whereby the storage medium in the present application has an algorithm for making the robot move smoothly and fast, so that the robot moves smoothly and fast.
The embodiment of the application also discloses a control device of the visual dynamic following system.
A visual dynamic following system control apparatus includes a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and that executes a motion control method; or any one of a visual dynamic following control system, a computer readable storage medium.
The implementation principle of the control device of the visual dynamic following system in the embodiment of the application is as follows: a computer program stored with a motion control method can be loaded and executed by a processor, which is helpful for realizing the function of rapid and smooth operation of the industrial robot.
The embodiment of the application also discloses an industrial robot.
An industrial robot is applied to a motion control method or includes any one of a visual dynamic following control system, a computer-readable storage medium, a visual dynamic following system control device.
Further, a horizontal multi-joint mechanical arm or a six-axis robot is included. So set up, horizontal many joints arm or six robots use comparatively extensively, and the suitability is stronger, has realized industrial robot's high-speed even running.
The implementation principle of an industrial robot in the embodiment of the application is as follows: the variable acceleration Sigmod curve based on the Sigmod function gives consideration to rapidity and stationarity of motion. The Sigmod curve is infinitely conductive, so that the problem of torque fluctuation does not exist, the original linear acceleration and deceleration motion curve is replaced by the Sigmod curve, the Sigmod curve can be ensured to have the same displacement value with the linear acceleration and deceleration curve in the same time, and the rapidity of the motion of the industrial robot is ensured.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. A motion control method, characterized by: the method comprises the following steps:
s1, performing primary planning of a linear acceleration and deceleration speed curve by using input workpiece program data, wherein the primary planning comprises a uniform speed change stage;
s2, performing Sigmoid curve replacement on the uniform speed change stage of the initial planning of the linear acceleration and deceleration speed curve by using a Sigmoid function, and obtaining the speed value of the Sigmoid curve;
s3, interpolating the velocity value of the Sigmoid curve to obtain an interpolated position value;
and S4, sending the position value obtained by interpolation to a motion control driver to control the servo mechanism.
2. A motion control method according to claim 1, characterized in that: the initial planning also includes a uniform velocity phase.
3. A motion control method according to claim 2, characterized in that: the S2 includes the steps of:
s21, acquiring a uniform variable speed stage in the initial planning;
s22, replacing a uniform speed change stage of a speed curve by a Sigmoid curve, wherein the integral area of the Sigmoid curve is equal to the integral area of the uniform speed change stage;
an acceleration curve in the Sigmoid curve is S (t) = (reachMaxSpd)/(1+ e ^ Δ t), wherein reachMaxSpd is the maximum speed achievable in the ramp phase in the primary plan;
and S23, acquiring speed values of time variables of the replaced Sigmoid curve.
4. A motion control method according to claim 3, characterized in that: step S22 is preceded by the steps of:
and S211, obtaining the acceleration and deceleration time acc _ time based on the uniform speed change stage.
5. A motion control method according to claim 3, characterized in that: step S22 is followed by the following steps:
s221, obtaining a preset adjusting constant b, wherein the adjusting constant b is used for shifting the Sigomid curve to the right by b units so that a time value t is taken from 0;
calculating a time constant c based on an adjusting constant b and an acceleration and deceleration time acc _ time, wherein c =2b/acc _ time, and the time value is t = [0, acc _ time ], so as to obtain the product of the time value t and the time constant c;
and S222, calculating a time variable delta t based on the time value t, the time constant c and the adjusting constant b, wherein the time variable delta t = b-2b · t/acc _ time.
6. A visual dynamic following control system, characterized by: the method comprises the following steps:
the primary planning module is used for carrying out primary planning on a linear acceleration and deceleration speed curve by using input workpiece program data, and the primary planning comprises a uniform speed change stage;
the Sigmoid curve module is used for replacing a Sigmoid curve with a Sigmoid function in a uniform speed change stage of the initial planning of a linear acceleration and deceleration speed curve and obtaining a speed value of the Sigmoid curve;
the interpolation module is used for interpolating the speed value of the Sigmoid curve to obtain an interpolated position value;
and the driving module is used for sending the position value obtained by interpolation to the motion control driver so as to control the servo mechanism.
7. A computer-readable storage medium characterized by: a computer program which can be loaded by a processor and which executes a method for motion control according to any of claims 1 to 4 is stored.
8. A visual dynamic following system control apparatus, characterized in that: the device comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and executes the motion control method according to any one of claims 1-5; or comprising a visual dynamic following control system as claimed in claim 6, a computer readable storage medium as claimed in claim 7.
9. An industrial robot, characterized in that: a motion control method as claimed in claims 1 to 5, or comprising any one of a visual dynamic following control system as claimed in claim 6, a computer readable storage medium as claimed in claim 7, a visual dynamic following system control device as claimed in claim 8.
10. An industrial robot according to claim 9, characterized in that: including horizontal multi-joint robotic arms and/or six-axis robots.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112830429A (en) * | 2020-12-30 | 2021-05-25 | 湖南星邦智能装备股份有限公司 | Method, device and equipment for controlling actions of aerial work platform and storage medium |
| CN117439460A (en) * | 2023-12-14 | 2024-01-23 | 黑龙江惠达科技股份有限公司 | Planar stepping biaxial system interpolation method, planar stepping biaxial system interpolation system, planar stepping biaxial system control device and planar stepping biaxial system interpolation control method |
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| CN111240275A (en) * | 2020-01-16 | 2020-06-05 | 北京航空航天大学 | Feed rate planning method based on logarithmic probability function under motion and error limitation |
| CN111459017A (en) * | 2020-04-07 | 2020-07-28 | 北京北特圣迪科技发展有限公司 | Numerical control discrete speed curve planning method |
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| CN112830429A (en) * | 2020-12-30 | 2021-05-25 | 湖南星邦智能装备股份有限公司 | Method, device and equipment for controlling actions of aerial work platform and storage medium |
| CN117439460A (en) * | 2023-12-14 | 2024-01-23 | 黑龙江惠达科技股份有限公司 | Planar stepping biaxial system interpolation method, planar stepping biaxial system interpolation system, planar stepping biaxial system control device and planar stepping biaxial system interpolation control method |
| CN117439460B (en) * | 2023-12-14 | 2024-03-15 | 黑龙江惠达科技股份有限公司 | Planar stepping biaxial system interpolation method, planar stepping biaxial system interpolation system, planar stepping biaxial system control device and planar stepping biaxial system interpolation control method |
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Application publication date: 20201103 |