手工地毯植绒机轨迹规划及其速度控制优化

Planning of trajectory and optimization of speed control of hand-made tufting machine

为减缓手工地毯植绒机在加工路径变化剧烈处引起的机械振动,减少植绒路径和基布偏移,使其在较高作业速度下加工出高品质毯面的手工地毯,提出一种手工地毯植绒轨迹规划和速度优化控制方法。通过分析手工地毯植绒机器人的机电系统架构,以及实现植绒动作的多轴联动关系;在此基础上研究了运动路径对机械振动和植绒精度的影响,提出了根据拐点转角大小的速度自适应控制策略;最后研究了三次样条函数轨迹规划器实现多轴系统的协调运动控制方法。结果表明:应用该优化控制方法较好地抑制了加工中的机械振动,实测路径最大偏移量从5.8mm下降到0.6mm,在保证毯面品质的基础上提升了植绒效率。

In order to reduce the mechanical vibration caused by the change of the processing path of hand-made carpet flocking machine so as to reduce the deviation of the flocking path and the base cloth and achieve the high quality hand-made carpet processed at a higher working speed,a method for trajectory planning and speed optimization control of hand-made carpet flocking was proposed.Hand-made carpet flocking robot′s mechanical and electrical system architecture was first analyzed,and the flocking motion of multi-axis linkage relationships was realized;on the basis,the influence of the motion path on the mechanical vibration and flocking precision was studied,and the speed adaptive control strategies according to the size of the inflection point corner was put forward,and finally a method for realizing the coordinated motion control of the multi-axis system by a cubic spline function trajectory planner was studied.The results show that the optimal control method can effectively suppress the mechanical vibration in the process,and the maximum deviation of the measured path decreases from 5.8 mm to 0.6 mm,which improves the flocking efficiency on the basis of guaranteeing the quality of the carpet surface.