KR940008821A - Circular interpolation method of robot - Google Patents

Abstract

According to the present invention, when the starting point, the intermediate point and the end point position of the circular arc are read, when the circular interpolation is executed, the angle of the small arc is Δθ and when the angle of the circular arc is θ during the circular interpolation, Δθ is (θ-ΣΔθ ( i) a judgment step for recognizing whether or not acceleration / deceleration is greater than the first step; a first coordinate calculation step for obtaining coordinates of an arc at every sampling time if there is no acceleration / deceleration in the determination step; and an acceleration / deceleration at the determination step. The second coordinate calculation step of calculating the X and Y coordinates of the circular arc in Cosθ and Sinθ at each sampling time, and the acceleration and deceleration of each axis after the coordinates of the circular arc are obtained in the second calculation step. A third coordinate calculation step for obtaining coordinates, an error compensation step for compensating for an error occurring when obtaining coordinates on an arc in the third coordinate calculation step, and a left circular arc on which the error is compensated for in the step. The target position calculation step of obtaining the target position of each axis for circular interpolation at any point of time at each sampling time, and the current position value of each axis read through the target position calculation step are obtained, and then the position deviation of the X and Y axes is calculated. It consists of a control step for controlling the servo motor by performing proportional integral derivative feedforward control on the position deviation calculation step to be obtained and the position deviation inserted in the position deviation calculation step. It moves along this arc and the velocity distribution of the arc becomes exponential function, so smooth movement is possible without vibration at the beginning and the end of the circle, and the sampling time is increased because the exponential function is accelerated and decelerated by the discrete time state equation. Since it can be reduced, the degree of arc is improved.

Description

Circular interpolation method of robot

Since this is an open matter, no full text was included.

1 is a graph showing the speeds Vx and Vy of the X and Y axes during circular interpolation in the X-Y plane.

FIG. 2 is a conceptual diagram showing an arc to be moved at every sampling time when the velocity of the circle is exponentially accelerated and decelerated in the X-Y plane.

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.

4 is a schematic diagram of a position control system for realizing a robot circular interpolation method according to the present invention;

Claims (1)

After reading the starting point, the intermediate point, and the end point of the circular arc, when the circular interpolation is executed, the angle of the circular arc is Δθ and the angle of the circular arc is θ during the circular interpolation, where θθ is (θ-ΣΔθ (i)). A judging step of judging whether the acceleration or deceleration is greater by determining whether it is larger, a first coordinate calculation step of obtaining coordinates on the arc every sampling time when there is no acceleration / deceleration in the judgment step, and every sampling time when acceleration / deceleration is present in the determination step. The second coordinate calculation step of calculating the X and Y coordinates of the arc every time by Cosθ and Sinθ and the coordinates of the arc in the second calculation step, and then the exponential acceleration and deceleration of each axis to obtain the coordinates of the arc in case of acceleration and deceleration. After the exponential acceleration and deceleration of each axis, the third coordinate calculation step for obtaining coordinates on the arc and the error that occurs when obtaining coordinates on the arc in the third coordinate calculation step The upper and lower sides are read out through an error compensation step, a target position calculation step of obtaining the target position of each axis for circular interpolation at any point in time at every time, and the coordinates of the circular arc whose error is compensated for, and the target position calculation step. After calculating the current position value of each axis, the position deviation calculation step of calculating the position deviation of the X and Y axes, and the proportional integral derivative feedforward control are performed on the position deviation calculated in the position deviation calculation step, A circular interpolation method for a robot, comprising a control step for controlling a speed. ※ Note: The disclosure is based on the initial application.