摘要
直角坐标机械手一般采用按步骤的单轴单向走直角运动,为了进一步提高该类机械手的定位速度,文章提出采用多轴联动的方式快速到达指定位置,利用多轴联动末端走曲线的方式取代传统的单轴单向运动。机械手的快速运行又给平稳性带来问题,通过对S曲线加减速算法的理论分析和应用研究,推导出了适合于机械手点位控制的加减速算法,以及各轴的路径规划方法,该算法的应用有效增加了系统运动的平稳性。
Cartesian coordinate manipulator generally takes the steps of right angle motion that the single axis one-way goes. In order to further improve the positioning speed of the manipulator, this paper puts forward the way of fast access to designated location with multi-axes motion. The way that linkage end goes curve with multiaxial motion replaces single axis one-way movement. Fast running of the manipula- tor causes the problem in stability. By the theory analysis and application research of S-curve acceleration and deceleration method, a suitable position control method for manipulator is derived, as well as the path planning method of each axis, the application of the proposed method effectively increases the stabil- ity of the system.
出处
《组合机床与自动化加工技术》
北大核心
2012年第7期71-74,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
广东省教育部产学研结合项目(2011B090400371)
中山市科技计划项目(20114A208)
关键词
机械手
多轴联动
路径规划
加减速
manipulator
multi-axis motion
path planning
acceleration and deceleration
