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CN-116604551-B - Manipulator control method

CN116604551BCN 116604551 BCN116604551 BCN 116604551BCN-116604551-B

Abstract

The embodiment of the application provides a manipulator control method, which comprises the steps of obtaining a plurality of groups of acceleration thresholds according to the load state of a manipulator, determining an acceleration control threshold according to the acceleration control threshold and the mass of the load, determining an output force safety threshold of a driver according to the acceleration control threshold and the mass of the load, obtaining the acceleration threshold of the manipulator according to the maximum acceleration, the minimum acceleration, the acceleration change rate threshold and the movement time in movement data, controlling the acceleration of the manipulator in the output force safety threshold, avoiding the full-load operation of a servo motor for driving the manipulator to transport and move due to the fact that the acceleration exceeds the design threshold range, and reducing the service life of the manipulator due to the fact that the inertial acting force of the manipulator exceeds the design threshold in the deceleration process, and avoiding the operation unsaturation of the servo motor due to the fact that the acceleration is smaller than the design threshold range of equipment, and reducing the production efficiency.

Inventors

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Assignees

  • 广东利元亨智能装备股份有限公司

Dates

Publication Date
20260512
Application Date
20230429

Claims (6)

  1. 1. A robot control method, comprising: acquiring a plurality of groups of acceleration thresholds according to the load state of the manipulator; determining acceleration control thresholds according to the plurality of groups of acceleration thresholds; determining an output force safety threshold of a driver of the manipulator according to the acceleration control threshold and the quality of the load; according to the load state of the manipulator, acquiring multiple groups of acceleration thresholds comprises the following steps: Obtaining basic parameter information of the manipulator and the load according to the load state of the manipulator; obtaining the maximum acceleration of the manipulator according to the basic parameter information of the manipulator and the load; Obtaining the minimum acceleration of the manipulator according to the motion data of the manipulator; Obtaining an acceleration change rate threshold of the manipulator according to the state data of the driver and the motion data of the manipulator; obtaining an acceleration threshold of the manipulator according to the maximum acceleration, the minimum acceleration, the acceleration change rate threshold and the motion time in the motion data; the basic parameter information of the manipulator and the load comprises the mass of the load, the mass of the manipulator and the inertia moment of the manipulator, and the maximum acceleration of the manipulator is obtained according to the basic parameter information of the manipulator and the load, and the method comprises the following steps: obtaining the maximum acceleration of the manipulator according to the mass of the load, the mass of the manipulator and the moment of inertia of the manipulator; the obtaining the minimum acceleration of the manipulator according to the motion data of the manipulator comprises the following steps: obtaining motion data of the manipulator according to configuration information of a production line where the manipulator is located; obtaining the minimum acceleration of the manipulator according to the motion travel and the motion time in the motion data; The obtaining the acceleration change rate threshold of the manipulator according to the state data of the driver and the motion data of the manipulator comprises the following steps: When the state data of the driver indicates that the driver is in a normal load state, obtaining the minimum acceleration change rate of the manipulator according to seven-stage motion strokes and motion time corresponding to the seven-stage motion strokes in the motion data; when the state data of the driver indicates that the driver is in a full-load state, obtaining the maximum acceleration change rate of the manipulator according to the four-stage motion travel and the motion time corresponding to the four-stage motion travel in the motion data; The seven-stage motion stroke comprises a first acceleration motion stage, a first constant acceleration motion stage, a first deceleration motion stage, a uniform motion stage, a second deceleration motion stage, a second constant acceleration motion stage and a second acceleration motion stage; the four-stage motion stroke comprises a first acceleration motion stage, a first deceleration motion stage, a second deceleration motion stage and a second acceleration motion stage.
  2. 2. The method for controlling a manipulator according to claim 1, wherein a first movement time corresponding to the first acceleration stage, a third movement time corresponding to the first deceleration stage, a fifth movement time corresponding to the second deceleration stage, and a seventh movement time corresponding to the second acceleration stage are equal, and a second movement time corresponding to the first constant acceleration stage is equal to a sixth movement time corresponding to the second constant acceleration stage.
  3. 3. The method according to claim 1, wherein when the state data of the driver indicates that the driver is in a normal load state, the fourth movement time corresponding to the uniform movement stage is obtained according to the rotation speed of the driver and the lead of the manipulator screw.
  4. 4. The method according to claim 1, wherein the obtaining the acceleration threshold of the manipulator according to the maximum acceleration, the minimum acceleration, the acceleration change rate threshold, and the movement time in the movement data includes: Obtaining a first acceleration interval according to the minimum acceleration and the maximum acceleration; obtaining a second acceleration interval according to the acceleration change rate threshold and the movement time in the movement data; and obtaining the acceleration threshold value of the manipulator from the intersection of the first acceleration interval and the second acceleration interval.
  5. 5. The method according to claim 1, wherein the plurality of sets of acceleration thresholds include a first acceleration threshold corresponding to an empty state and a second acceleration threshold corresponding to a maximum load state, and wherein the acquiring the plurality of sets of acceleration thresholds according to the load state of the manipulator includes: acquiring a first acceleration threshold according to the empty load state of the manipulator; And acquiring a second acceleration threshold according to the maximum load state of the manipulator.
  6. 6. The method of claim 5, wherein determining the acceleration management threshold from the plurality of sets of acceleration thresholds comprises: And determining the acceleration control threshold according to the intersection of the first acceleration threshold and the second acceleration threshold.

Description

Manipulator control method Technical Field Embodiments of the present application relate to, but are not limited to, the field of manipulators, and in particular, to a manipulator control method. Background In a mechanical production process in a factory, a load such as a workpiece is generally held by a robot arm and moved along a production line to transport the workpiece. The transportation process mainly comprises three stages, namely an acceleration motion stage, a uniform motion stage and a deceleration motion stage, and finally the manipulator stops at a destination point. The three stages are repeated, so that the manipulator transports the workpiece to a plurality of destination points to perform a plurality of processing procedures. When the acceleration of the manipulator is set, if the acceleration is set to be too large, the servo motor driving the manipulator to transport and move is operated at full load, the inertial acting force applied to the manipulator in the deceleration process is large due to the too large acceleration, the manipulator is worn, and accordingly the service life of the manipulator is prolonged, and if the acceleration is set to be small, the servo motor is not saturated in operation, and therefore the benefit is low. Disclosure of Invention The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims. The application aims to at least solve one of the technical problems existing in the related art to a certain extent, and the embodiment of the application provides a manipulator control method which can reasonably control the acceleration of a manipulator. The embodiment of the application provides a manipulator control method, which comprises the following steps: acquiring a plurality of groups of acceleration thresholds according to the load state of the manipulator; determining acceleration control thresholds according to the plurality of groups of acceleration thresholds; and determining an output force safety threshold of a driver of the manipulator according to the acceleration control threshold and the mass of the load. According to some embodiments of the present application, the acquiring a plurality of acceleration thresholds according to a load state of a manipulator includes: Obtaining basic parameter information of the manipulator and the load according to the load state of the manipulator; obtaining the maximum acceleration of the manipulator according to the basic parameter information of the manipulator and the load; Obtaining the minimum acceleration of the manipulator according to the motion data of the manipulator; Obtaining an acceleration change rate threshold of the manipulator according to the state data of the driver and the motion data of the manipulator; And obtaining the acceleration threshold of the manipulator according to the maximum acceleration, the minimum acceleration, the acceleration change rate threshold and the movement time in the movement data. According to some embodiments of the application, the basic parameter information of the manipulator and the load comprises the mass of the load, the mass of the manipulator and the moment of inertia of the manipulator, and the maximum acceleration of the manipulator is obtained according to the basic parameter information of the manipulator and the load, and the method comprises the following steps: and obtaining the maximum acceleration of the manipulator according to the mass of the load, the mass of the manipulator and the moment of inertia of the manipulator. According to some embodiments of the application, the obtaining the minimum acceleration of the manipulator according to the motion data of the manipulator includes: obtaining motion data of the manipulator according to configuration information of a production line where the manipulator is located; And obtaining the minimum acceleration of the manipulator according to the motion travel and the motion time in the motion data. In some embodiments of the present application, the obtaining the acceleration change rate threshold of the manipulator according to the state data of the driver and the motion data of the manipulator includes: When the state data of the driver indicates that the driver is in a normal load state, obtaining the minimum acceleration change rate of the manipulator according to seven-stage motion strokes and motion time corresponding to the seven-stage motion strokes in the motion data; when the state data of the driver indicates that the driver is in a full-load state, obtaining the maximum acceleration change rate of the manipulator according to the four-stage motion travel and the motion time corresponding to the four-stage motion travel in the motion data; The seven-stage motion stroke comprises a first acceleration motion stage, a first constant acceleration motion stage, a first deceleration motion stage, a uniform motion stage, a s