ERROR COMPENSATION METHOD FOR THE CIRCULAR TRAJECTORY OF ROBOT

摘要

The present invention provides a judgment step for determining the starting point, the intermediate point and the end point position on the arc, a first coordinate calculation step for obtaining the x, y coordinates on the arc when there is no acceleration / deceleration after reading the three points on the arc in the determination step; The second coordinate calculation step of obtaining the x, y coordinates on the arc and the coordinates obtained in the coordinate calculation step every sampling time when the acceleration / deceleration is performed by performing linear acceleration / deceleration on each axis of the x, y coordinates obtained in the first coordinate drawing step. The target position calculation step of obtaining the target position of each axis for circular interpolation at any point of time, and the position deviation calculation of the position deviation of the x and y axes after calculating the current position value of each axis read through the target position calculation step. And a control step for controlling the servomotor by performing proportional integral derivative feed forward control on the position deviation calculated in the position deviation calculation step. It is it can reduce the sampling time is capable of high-speed of the circular movement because the fingertip of the robot in the X-Y plane of a Cartesian coordinate to perform the linear acceleration and deceleration by the movement and the discrete-time state equation during acceleration and deceleration of each axis along an arc.