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KR920017772A - Linear interpolation method of robot - Google Patents

Linear interpolation method of robot Download PDF

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Publication number
KR920017772A
KR920017772A KR1019910004564A KR910004564A KR920017772A KR 920017772 A KR920017772 A KR 920017772A KR 1019910004564 A KR1019910004564 A KR 1019910004564A KR 910004564 A KR910004564 A KR 910004564A KR 920017772 A KR920017772 A KR 920017772A
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KR
South Korea
Prior art keywords
axis
acceleration
movement
deceleration
robot
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KR1019910004564A
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Korean (ko)
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KR940002207B1 (en
Inventor
송진일
Original Assignee
강진구
삼성전자 주식회사
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Priority to KR1019910004564A priority Critical patent/KR940002207B1/en
Publication of KR920017772A publication Critical patent/KR920017772A/en
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Publication of KR940002207B1 publication Critical patent/KR940002207B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

내용 없음No content

Description

로봇의 직선보간(補間)방법Linear interpolation method of robot

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 X-Y 평면에서의 로보트아암 엔드 이펙터의 직선이송 개념도,1 is a conceptual diagram of the linear transfer of the robot arm end effector in the X-Y plane,

제2도는 직각좌표 X-Y 평면에서의 X축과 Y축의 이동량에 대한 그래프,2 is a graph of the amount of movement of the X and Y axes in the Cartesian X-Y plane,

제3도는 직각좌표 X-Y 평면상에서의 직선이송을 위한 X,Y좌표에 대한 속도분포도.3 is a velocity distribution plot for X and Y coordinates for linear travel on a Cartesian coordinate X-Y plane.

Claims (2)

로봇의 관절 좌표계에서의 현재위치와 최종목표 위치로부터 기구학적 방정식에 의해X-Y(World좌표계)에서의 현재위치와 목표위치를 구한후, 상기 X-Y평면에서 X축의 이동거리와 Y축의 이동거리의 크기를 비교하여 이동거리가 큰축에 대해 직선의 이송속도에 대응하여 가감속이 없는 경우의 매 샘플링 시간마다의 이동량으로부터 이동횟수를 구하는 이동횟수 계산스텝과, 이동거리가 짧은 축에 대해 상기 이동횟수로부터 가감속이 없는 경우의 매 샘플링 시간마다의 이동거리를 구하는 이동거리계산 스텝과, 가감속이 없는 경우의 각축의 이동량으로부터 S자형태의 2차함수 가감속을 행하기 위해 이산시간상태 방정식에 의해 매 샘플링 시간마다의 위치증분양을 계산한후 로보트 아암의 역기구학적 방정식에 의해 각관절의 이동펄스를 계산하는 이동펄스계산 스텝과, 각축의 현재위치를 검출하여 위치편차를 계산하고, 상기 위치편차에 비례적분미분(PID)제어를 행한후, 서보모터의 구동신호로 출력하는 서보모터의 구동스텝으로 이루어진 것을 특징으로 하는 로보트의 직선보간 방법.After the current position and the target position in XY (World coordinate system) are obtained from the current position and the final target position in the joint coordinate system of the robot, the size of the moving distance of the X axis and the moving distance of the Y axis in the XY plane is calculated. The movement count calculation step of calculating the number of movements from the movement amount for every sampling time when there is no acceleration and deceleration corresponding to the linear feed speed for the axis with a large movement distance, and the acceleration and deceleration from the movement frequency for the axis with a shorter movement distance. In order to carry out the movement distance calculation step for finding the movement distance for every sampling time in the absence of an acceleration, and the S-shaped secondary function acceleration and deceleration from the movement amount of each axis in the absence of acceleration and deceleration, Moving pulse that calculates moving pulse of each joint by inverse kinematic equation of robot arm after calculating position increment And a step for detecting the current position of each axis, calculating a position deviation, performing a proportional integral derivative (PID) control on the position deviation, and then outputting the servo motor as a drive signal. Linear interpolation method of the robot. 제1항에 있어서, 상기 비례적분미분된 값은 디지털/아날로그 변환기에 의해 아날로그값으로 변환된 후 서보 제어부에 입력되어 모터를 구동하는 것을 특징으로 하는 로보트의 직선보간방법.The linear interpolation method of claim 1, wherein the proportional integral value is converted into an analog value by a digital / analog converter and then input to a servo controller to drive a motor. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019910004564A 1991-03-22 1991-03-22 Linear compensating method of robot KR940002207B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019910004564A KR940002207B1 (en) 1991-03-22 1991-03-22 Linear compensating method of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019910004564A KR940002207B1 (en) 1991-03-22 1991-03-22 Linear compensating method of robot

Publications (2)

Publication Number Publication Date
KR920017772A true KR920017772A (en) 1992-10-21
KR940002207B1 KR940002207B1 (en) 1994-03-19

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ID=19312386

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019910004564A KR940002207B1 (en) 1991-03-22 1991-03-22 Linear compensating method of robot

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KR (1) KR940002207B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117619615A (en) * 2024-01-25 2024-03-01 雪橇老人信息技术有限公司 AI artificial intelligence orbit paint spraying system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117619615A (en) * 2024-01-25 2024-03-01 雪橇老人信息技术有限公司 AI artificial intelligence orbit paint spraying system
CN117619615B (en) * 2024-01-25 2024-04-26 森塔(山东)机器人科技股份公司 AI artificial intelligence orbit paint spraying system

Also Published As

Publication number Publication date
KR940002207B1 (en) 1994-03-19

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