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机器人在启动、停止过程中会出现速度曲线不平滑,加速度突变,从而造成本体冲击、震动等情况。机器人在运动过程中,必须保证速度变化平稳,各阶段之间平滑过渡,尽可能减少因速度、加速度的突变带来的冲击等问题。针对此情况对码垛机器人的速度控制进行了研究,现阶段常用的加减速法包括直线加减速法、指数加减速法、多项式加减速法、抛物线加减速法、S曲线加减速法等。着重分析了直线加减速法、指数加减速法和多项式加减速法。
The robot will appear in the process of starting and stopping, the speed curve is not smooth and the acceleration changes abruptly, resulting in the impact of body, vibration and so on. During the movement of the robot, it is necessary to ensure that the speed changes smoothly and the transition between the phases is smooth. As a result, the problems caused by sudden changes in speed and acceleration are reduced as much as possible. In this case, the speed control of palletizing robot has been studied. The commonly used acceleration and deceleration methods in this stage include linear acceleration and deceleration, exponential acceleration and deceleration, polynomial acceleration and deceleration, parabola acceleration and deceleration, S-curve acceleration and deceleration. Emphasis is placed on the analysis of linear acceleration and deceleration, exponential acceleration and deceleration and polynomial acceleration and deceleration.