基于运动补偿的工业机器人取放轨迹控制方法

Control Method of Picking and Discharging Track of Industrial Robots Based on Motion Compensation

在取放工作中,各种外部干扰可能导致工业机器人的操作偏离预定轨迹,从而影响取放轨迹的定位精准度,为此,提出了基于运动补偿的工业机器人取放轨迹控制方法。首先,利用运动补偿算法,提取工业机器人的取放轨迹特征,然后,建立工业机器人取放轨迹预测方程,根据轨迹预测方程设定工业机器人的取放限制条件,最后,确定工业机器人取放轨迹,实现工业机器人取放轨迹控制。结果证明,该方法实现了取放轨迹的精准定位。

In the process of picking and discharging,various external disturbances may cause the operation of industrial robots to deviate from the predetermined trajectory,thereby affecting the positioning accuracy of the picking and discharging trajectory.Therefore,a motion compensation based control method for industrial robot picking and discharging trajectory is proposed.Firstly,using motion compensation algorithms,the characteristics of the picking and discharging trajectory of industrial robots are extracted.Then,a prediction equation for the picking and discharging trajectory of industrial robots is established,and the picking and discharging constraints of industrial robots are set based on the trajectory prediction equation.Finally,the picking and discharging trajectory of industrial robots is determined to achieve control of the picking and discharging trajectory of industrial robots.The results demonstrate that this method achieves precise positioning of the retrieval and placement trajectory.