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KR940019417A - Circular interpolation method of robot - Google Patents

Circular interpolation method of robot Download PDF

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Publication number
KR940019417A
KR940019417A KR1019930002872A KR930002872A KR940019417A KR 940019417 A KR940019417 A KR 940019417A KR 1019930002872 A KR1019930002872 A KR 1019930002872A KR 930002872 A KR930002872 A KR 930002872A KR 940019417 A KR940019417 A KR 940019417A
Authority
KR
South Korea
Prior art keywords
arc
calculating
circular
target position
circular arc
Prior art date
Application number
KR1019930002872A
Other languages
Korean (ko)
Other versions
KR0154433B1 (en
Inventor
송진일
Original Assignee
김광호
삼성전자 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 김광호, 삼성전자 주식회사 filed Critical 김광호
Priority to KR1019930002872A priority Critical patent/KR0154433B1/en
Publication of KR940019417A publication Critical patent/KR940019417A/en
Application granted granted Critical
Publication of KR0154433B1 publication Critical patent/KR0154433B1/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
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements

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

Abstract

본 고안은 2개 이상의 아암을 가지는 다관절형 로보트에 있어서, 상기 아암의 손끝을 현재 위치에서 목표위치까지 원호를 따라 움직이게 할 수 있도록 한것으로, 원호상의 각각의 원호점을 읽고, 읽어드린 원호점의 원호각도의 대소를 판단하며, 이 판단된 원호각도를 매시간마다 원호상좌표를 계산하고, 원호상좌표를 지수함수 가감속을 행하여 원호상좌표를 계산, 보상하며, 이 보상된 원호의 목표위치를 계산하는 단계와, 상기 단계에서 원호의 목표위치가 계산된 목표위치에서 위치편차를 구하고, 속도명령을 계산, 판단, 출력하여 원호좌표를 계산하는 단계와, 상기 단계에서 계산된 몫으로 속도명령을 계산, 출력, 소정횟수에 도달할때까지 최종명령을 출력하고, 최종목표에 도달하였는가를 판단, 완료하는 단계로하여 원호보간시 속도제한이 발생하였을 경우 원호의 이송속도를 변화시켜 속도명령이 제한값을 넘지 않게 제어하여 위치편차가 커지는 것을 방지함으로써 원호정도를 향상할 수 있도록 한것임.The present invention, in the articulated robot having two or more arms, to move the fingertips of the arm from the current position to the target position along the arc, to read each arc point of the arc, Determines the magnitude of the arc angle, calculates the circular arc coordinates every hour using the determined arc angle, calculates and compensates the arc arc coordinates by exponentially accelerating and decelerating the circular arc coordinates, and calculates the target position of the compensated arc angle. Calculating a position deviation at the target position from which the target position of the circular arc is calculated, calculating, determining, and outputting the speed command; calculating the arc coordinate; and calculating the speed command with the quotient calculated in the step. The speed limit occurs during circular interpolation by calculating and outputting the final command until reaching the predetermined number of times, and determining and completing the final target. In this case, the accuracy of the circular arc can be improved by changing the feed speed of the circular arc so that the speed command does not exceed the limit value to prevent the positional deviation from increasing.

Description

로보트의 원호보간방법Circular interpolation method of robot

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

제 3 도는 본 발명에 적용되는 가감속이 없는 경우 원호보간시 매샘플링시간마다 X-Y평면에서 움직여야할 증분량을 나타낸 좌표도,3 is a coordinate diagram showing an increment amount to be moved in the X-Y plane for every sampling time during circular interpolation when there is no acceleration / deceleration applied to the present invention.

제 5 도는 본 발명에 적용되는 X-Y평면에서 원호보간시 가감속이 없는 경우 매샘플링시간마다 원호를 계산하기 위한 좌표도,5 is a coordinate diagram for calculating an arc every sampling time when there is no acceleration and deceleration during circular interpolation in the X-Y plane applied to the present invention.

제 6 도는 본 발명 원호보간방법에 대한 플로우챠트.6 is a flowchart of the circular interpolation method of the present invention.

Claims (1)

로보트의 원호보간방법에 있어서, 원호상의 각각의 원호점을 읽고, 읽어드린 원호점의 원호각도의 대소를 판단하며, 이 판단된 원호각도를 매시간 원호상좌표를 계산하고, 원호상좌표를 지수함수 가감속을 행하여 원호상좌표를 계산, 보상하며, 이 보상된 원호의 목표위치를 계산하는 단계와, 상기 단계에서 원호의 목표위치가 계산된 목표위치에서 위치편차를 구하고, 속도명령을 계산, 판단, 출력하여 원호좌표를 계산하는 단계와, 상기 단계에서 계산된 몫으로 속도명령을 계산, 출력, 소정횟수에 도달할때까지 최종명령을 출력하고, 최종목표에 도달하였는가를 판단, 완료하는 단계로 이루어지는 것을 특징으로 하는 로보트의 원호보간방법.In the circular interpolation method of the robot, each circular arc point is read, the magnitude of the arc angle of the circular arc point is read, the arc angle is calculated from the determined arc angle every hour, and the arc arc coordinate is an exponential function. Calculating and compensating the circular arc coordinate by accelerating and decelerating, calculating the target position of the compensated circular arc, calculating the position deviation at the target position at which the target position of the circular arc is calculated, and calculating and determining the speed command. And calculating the circular coordinate by outputting, calculating, outputting, and outputting the speed command with the quotient calculated in the above step, outputting the final command until reaching a predetermined number of times, and determining and completing the final target. Circular interpolation method of the robot, characterized in that made. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019930002872A 1993-02-27 1993-02-27 Method for circular error compensation of robot KR0154433B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019930002872A KR0154433B1 (en) 1993-02-27 1993-02-27 Method for circular error compensation of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019930002872A KR0154433B1 (en) 1993-02-27 1993-02-27 Method for circular error compensation of robot

Publications (2)

Publication Number Publication Date
KR940019417A true KR940019417A (en) 1994-09-14
KR0154433B1 KR0154433B1 (en) 1998-12-15

Family

ID=19351390

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019930002872A KR0154433B1 (en) 1993-02-27 1993-02-27 Method for circular error compensation of robot

Country Status (1)

Country Link
KR (1) KR0154433B1 (en)

Also Published As

Publication number Publication date
KR0154433B1 (en) 1998-12-15

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