Research On Planning Of Asymmetric S Speed Curve Based On Convolution

With the increase of labor costs and the improvement of product quality requirements,the replacement of labor by automated equipment has become a development trend in the manufacturing industry.The applications of industrial robots and CNC machine tools include: aerospace industry,shipbuilding industry,automotive industry,power industry,steel industry,etc.In the entire automotive industry production field,spraying industrial robots,assembly industrial robots,casting and forging industrial robots,handling industrial robots,welding industrial robots,cutting industrial robots and inspection industrial robots will all play a very important role in actual production.In the field of machining,CNC machine tools include CNC boring machines,CNC milling machines,and CNC drilling machines.However,to realize the above-mentioned various application scenarios is inseparable from the field of industrial robots and CNC motion control,so motion control has always been a research hotspot of robots and CNC machine tools.In the field of industrial robots and NC motion control,the speed curve planning algorithm is one of the key technologies.The speed planning algorithm not only guarantees the positioning accuracy and reduces the vibration,but also improves the movement efficiency of the whole process.This paper makes in-depth research on improving efficiency in speed planning.The main tasks as follows:(1)This paper analyzes many speed planning algorithms of the predecessors and finds that there is a constraint relationship between the acceleration and acceleration in the deceleration section of the asymmetric S speed curve planning of the traditional polynomial algorithm,which limits the efficiency of the entire motion process.This research proposes an asymmetric S-speed planning algorithm based on the convolution principle for robot point-to-point motion.Under the same conditions of displacement and jerk,compared with the polynomial algorithm,this algorithm reduces the travel time by increasing the acceleration value within the range allowed by the robot dynamics,and improves the motion efficiency.It is verified in the simulation results of the DSP28335 processor.(2)In actual production,whether an industrial robot or a CNC machine tool has a look-ahead function in continuous motion,the initial and final speeds of the speed curve are not zero.Aiming at the situation where the start and end speeds are not zero,this paper proposes an asymmetric S-speed curve plan based on convolution based on non-zero start and end speeds.The algorithm is also verified in the DSP28335 processor simulation results.(3)In order to verify the practical feasibility of the above algorithm,this paper uses a basic development board made by Nanjing Yanxu Corporation based on the basis of DSP28335,Maxon DC motor and DA conversion chip AD5754 R to build a complete closed-loop servo system.The convolution-based asymmetric S-curve planning algorithm proposed in this paper can be practically applied.Aiming at the two motion situations of industrial robots,this paper proposes convolution-based asymmetric S-velocity curve algorithms and verified by simulation,which can effectively improve the production efficiency of robots.Finally,a practical servo closed-loop position system is established to test the feasibility of the practical application of the algorithm.