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KR940006720A - Circular interpolation method of robot - Google Patents

Circular interpolation method of robot Download PDF

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Publication number
KR940006720A
KR940006720A KR1019920017103A KR920017103A KR940006720A KR 940006720 A KR940006720 A KR 940006720A KR 1019920017103 A KR1019920017103 A KR 1019920017103A KR 920017103 A KR920017103 A KR 920017103A KR 940006720 A KR940006720 A KR 940006720A
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South Korea
Prior art keywords
calculation step
arc
deceleration
obtaining
coordinates
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KR1019920017103A
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Korean (ko)
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KR0160999B1 (en
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송진일
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윤종용
삼성전자 주식회사
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Priority to KR1019920017103A priority Critical patent/KR0160999B1/en
Publication of KR940006720A publication Critical patent/KR940006720A/en
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Publication of KR0160999B1 publication Critical patent/KR0160999B1/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
    • B25J9/16—Programme controls

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

Abstract

본 발명은 원호상의 시작점과 중간점 및 종점위치를 판단하는 판단스텝과, 상기 판단스텝에서 원호상의 3점을 판독한 후 가감속이 없는 경우 원호상의 x,y 좌표를 구하는 제1좌표 계산스텝과, 상기 제1좌표 겨산스텝에서 구해진 x,y좌료의 각축으로 직선가감속을 행하여 가감속이 있는 경우 원호상의 x,y좌표를 구하는 제2좌표 계산스텝과, 상기 좌표계산 스텝에서 구해진 좌표를 매 샘플링 시간마다 임의의 시점에서의 원호보간을 위해 각축의 목표위치를 구하는 목표위치 계산스텝과, 상기 목표위치 계산스텝을 통해 판독한 각축의 현재위치값을 구한 후, x,y축의 위치편차를 구하는 위치편차 계산스텝과, 상기 위치편차 계산 스텝에서 산출된 위치편차에 대해서 비례적분 미분 피드 퍼워드(Feed Forward)제어를 행하여 서보모터를 제어하는 제어스텝으로 구성되어 직각좌표의 X-Y평면에서 로보트의 손끝이 원호를 따라 움직이며 각축의 가감속시 이산시간 상태 방정식에 의해 직선 가감속을 행하기 때문에 샘플링 시간을 줄일 수 있어 고속의 원호이동이 가능한 것이다.The present invention provides a judgment step for determining the starting point, the intermediate point and the end point position on the arc, a first coordinate calculation step for obtaining the x, y coordinates on the arc when there is no acceleration / deceleration after reading the three points on the arc in the determination step; The second coordinate calculation step of obtaining the x, y coordinates on the arc and the coordinates obtained in the coordinate calculation step every sampling time when the acceleration / deceleration is performed by performing linear acceleration / deceleration on each axis of the x, y coordinates obtained in the first coordinate drawing step. The target position calculation step of obtaining the target position of each axis for circular interpolation at any point of time, and the position deviation calculation of the position deviation of the x and y axes after calculating the current position value of each axis read through the target position calculation step. And a control step for controlling the servomotor by performing proportional integral derivative feed forward control on the position deviation calculated in the position deviation calculation step. It is it can reduce the sampling time is capable of high-speed of the circular movement because the fingertip of the robot in the X-Y plane of a Cartesian coordinate to perform the linear acceleration and deceleration by the movement and the discrete-time state equation during acceleration and deceleration of each axis along an arc.

Description

로보트의 원호보간방법Circular interpolation method of robot

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

제1도는 X-Y 평면에서 원호보간시 X,Y축의 속도 Vx, Vy를 나타낸 그래프.1 is a graph showing the speeds Vx and Vy of the X and Y axes during circular interpolation in the X-Y plane.

제2도는 X-Y 평면에서 원호보간시 원의 속도를 직선 가감속한 경우 매 샘플링 시간마다 X-Y 평면에서 움직여야할 증분양을 나타낸 개념도.2 is a conceptual diagram illustrating an incremental amount to be moved in the X-Y plane every sampling time when the linear velocity of the circular interpolation in the X-Y plane is linearly decelerated.

제3도는 X-Y 평면에서 가감속이 없는 경우 매 샘플링 시간마다 이동해야 할 원호의 길이를 나타낸 개념도.3 is a conceptual diagram showing the length of an arc to be moved every sampling time in the absence of acceleration and deceleration in the X-Y plane.

제4도는 본 발명에 의한 로보트의 원호보간 방법을 실현하기 위한 위치제어 시스템의 개요도.4 is a schematic diagram of a position control system for realizing a robot circular interpolation method according to the present invention;

Claims (2)

원호상의 시작점과 중간점 및 종점위치를 판단하는 판단스텝과, 상기 판단스텝에서 원호상의 3점을 판독한 후 가감속이 없는 경우 원호상의 X,Y좌표를 구하는 제1 좌표 계산스텝과, 상기 제1좌표 계산 스텝에서 구해진 X,Y좌표의 각축으로 직선가감속을 행하여 가감속이 있는 경우 원호상의 X,Y 좌표를 구하는 제2좌표 계산스텝과, 상기 좌표계산 스텝에서 구해진 좌표를 매 샘플링 시간마다 임의의 시점에서의 원호보간을 위해 각축의 목표위치를 구하는 목표위치 계산스텝과, 상기 목표위치 계산스텝을 통해 판독한 각축의 현재위치값을 구한 후 X,Y축의 위치 편차를 구하는 위치 편차계산 스텝과, 상기 위치편차 계산 스텝에서 산출된 위치편차에 대해서 비례적분 미분 피드 퍼워드(Feed Forward)제어를 행하여 서보모터를 제어하는 제어스텝으로 이루어진 것을 특징으로 하는 로보트원호 보간방법.A judging step of judging the position of the starting point, the intermediate point and the end point of the circular arc; a first coordinate calculation step of obtaining the X and Y coordinates of the circular arc when there is no acceleration / deceleration after reading the three points on the circular arc in the judgment step; The second coordinate calculation step of obtaining the X and Y coordinates on the arc when the acceleration and deceleration is performed by performing linear acceleration and deceleration on each axis of the X and Y coordinates obtained in the coordinate calculation step, and the coordinates obtained by the coordinate calculation step at any time for each sampling time. A target position calculation step of obtaining a target position of each axis for circular interpolation, a position deviation calculation step of obtaining positional deviations of X and Y axes after obtaining a current position value of each axis read through the target position calculation step, and Control step for controlling servomotor by performing proportional integral derivative feed forward control on the position deviation calculated in position deviation calculation step Robot circular interpolation method characterized in that. 제1항에 있어서, 상기 제1좌표 계산스텝에서 원호상의 X,Y좌표는,According to claim 1, X, Y coordinates on the arc in the first coordinate calculation step, (여기서 K: 샘플링시간마다 증가되는 상수, a: Cos△θ, b:Sin△θ를 각각 표시한다)에 의해서 구하는 것을 특징으로 하는 로보트원호 보간방법.A robotic circular interpolation method characterized by the above-described method, wherein K is a constant increased for each sampling time, a: Cos Δθ, and b: SinΔθ are respectively displayed. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019920017103A 1992-09-19 1992-09-19 Circular interpolation method of robot KR0160999B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019920017103A KR0160999B1 (en) 1992-09-19 1992-09-19 Circular interpolation method of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019920017103A KR0160999B1 (en) 1992-09-19 1992-09-19 Circular interpolation method of robot

Publications (2)

Publication Number Publication Date
KR940006720A true KR940006720A (en) 1994-04-25
KR0160999B1 KR0160999B1 (en) 1998-12-15

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KR0160999B1 (en) 1998-12-15

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