Research On Real-time Displacement Control Algorithm Of Robot Programming Trajectory

Industrial robot programming is of great significance to the practical application of robot in industry and the improvement of working efficiency.At present,most of the industrial robots are programmed by the way of manual teaching to control the robot's trajectory.This programming method is suitable for the work with high repetition,such as the assembly line production and processing of automobiles.When the field teaching work is difficult,the robot off-line programming control method must be used,and off-line programming can be large It can save manufacturing time,realize real-time simulation of computer,and provide flexible programming environment for robot programming and debugging.Therefore,the development of robot programming application combining the two will be the general trend.The real-time displacement control algorithm of robot programming trajectory becomes the core of robot practical application control.From this point of view,the six axis robot control technology is applied to the special equipment for saddle shaped track cutting of large-diameter cylinder.A robot control system is designed by combining robot control technology with software and hardware.Different motion joints are defined for six control axes of the equipment,including straight axis and rotating axis.Before cutting,manual teaching tool coordinate system and user coordinate system make the mechanical structure of groove cutting swing shaft simple and reduce the weight,ensure the stability of cantilever structure movement,control two of the six axes of the robot to distribute to the radial and axial movement of the cylinder,facilitate the positioning of the hole center,and improve the working efficiency of cylinder cutting,The problem of off-line programming is solved.Six control axes are interpolated and servo controlled.The pose matrix of each point of quadric surface in space rectangular coordinate system is solved by parameter equation.Then the rotation angle of each arm joint of six axis robot is calculated,and an efficient and practical real-time displacement control algorithm of trajectory is developed to realize the given motion and advance Line simulation is applied to the actual work of the robot to simplify the mechanical structure of the special equipment and improve the real-time control accuracy.