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本文就如何有效地对机器人施行连续轨迹控制的一系列问题进行了探讨.通过增强MOVE MASTER机器人控制软件功能,成功地实现了一套可行性好、算法简便的控制方案。它将关节坐标的离线双抛物线拟合与在线积分法插补相结合。在不超差的前提下,使抛物线段数最少,从而节省了插补所需存储空间。实践证明,此方案能使机器人实际运动轨迹连续、光滑,与理想轨迹十分逼近。另外,本文还就插补过程中累积误差的补偿作了探讨.本方案同样适用于工业机器人运动控制。并且,它还弥补丁现有的直线插补、圆弧插补之不足。
In this paper, a series of problems about how to effectively implement continuous trajectory control on robots are discussed, and a set of control schemes with good feasibility and simple algorithm are successfully realized by enhancing the control software of MOVE MASTER robot. It combines off-line, double-parabolic fitting of joint coordinates with online integral interpolation. Without parabolicity, the parabolic segments are minimized, saving the space required for interpolation. Practice has proved that this scheme can make the robot’s actual trajectory continuous, smooth, and very close to the ideal trajectory. In addition, this paper also discusses the compensation for the cumulative error in the interpolation process.The program also applies to the industrial robot motion control. And, it also makes up for the lack of existing linear interpolation, circular interpolation.