一种5R机构的圆弧轨迹控制方法

An Arc Trajectory Control Method for 5R Mechanisms

根据5R机构末端执行器在运行过程中对位置和速度方面的要求,提出一种圆弧轨迹控制方法,采用时间分割和数字积分原理,加入均匀加减速,结合运动学分析实现5R机构末端执行器的圆弧轨迹控制。通过仿真与实验相结合对其进行验证,结果表明该圆弧轨迹控制方法能够满足5R机构末端执行器在运动过程中的位置精度要求,且对其运行速度进行了控制,使驱动电机能够输出均匀脉冲,机构末端执行器运行平稳,满足5R机构末端执行器在运动过程中的速度要求。

According to the position and speed requirements for 5 R mechanism end effector during movement,an arc trajectory control method is proposed which adopts the principle of time division and digital integral,adds uniform acceleration and deceleration and realizes an arc trajectory control for 5 R mechanism end effector combining kinematics analysis.The arc trajectory control of the end effector is verified by simulation and experiment.The results show that the arc trajectory control method can meet the positional accuracy requirements for 5 R mechanism end effector during the movement,while the speed is also controlled so that the driving motor can output a uniform pulse,which enables the end effector to run smoothly,meeting the speed requirement of the end effector for5 R mechanism during the movement.