KR100244680B1 - Acceleration/deceleration controller of robot and method of the same - Google Patents

Abstract

The present invention relates to a deceleration control apparatus and a method for driving a robot such that the drive motor for determining the operation of the robot has a fast response speed to a control command, wherein the drive motor of the robot according to the present invention, According to the control device and the method, when the acceleration and deceleration motion of the drive motor occurs, the drive motor is controlled by obtaining the optimum deceleration factor (FACTOR) according to the input condition and controlling the acceleration and deceleration motion of the drive motor by the deceleration factor. Because of the quick response in the optimal state by command, the robot responds quickly and has an excellent effect.

Description

Robot driving motor acceleration / deceleration control device and method

The present invention relates to a drive motor of a robot, a deceleration control apparatus and a method thereof, wherein the drive motor for determining the operation of the robot has a fast response speed to a control command.

In general, when designing the motion path of the robot, it is important to set the acceleration section and the deceleration section in the whole movement section to prevent excessive load on the driving motor due to rapid acceleration and deceleration and to prevent the robot from vibrating during the movement. The path design is to perform acceleration, constant speed, and deceleration movement.

In addition, if the command speed is increased to increase the movement speed of the robot, as shown in FIG. 1, the speed of the driving motor of the robot is shortened at the constant speed section and eventually causes the acceleration and deceleration motion without the constant speed section (a to f). ).

In this state, if the command speed is further increased (increased above the f curve), the motor cannot execute the command speed, causing vibration and instability of the robot.

Therefore, in order to solve this problem, a conventional method of reducing the command speed given to the motor by using an appropriate deceleration factor (FACTOR) is performed when the acceleration and deceleration movements are performed.

However, such a conventional method always reduces the command speed by using a deceleration factor of a constant ratio when a problem occurs regardless of the command speed, the movement distance, etc., but it works as intended only at a limited moving distance and command speed. In the range of, there is a problem that the actual driving speed decreases even though the command speed is higher when the problem occurs.

Accordingly, the present invention has been made to solve the above problems, and an object of the present invention is to provide a robot drive motor, a deceleration control apparatus and method thereof so that the robot can quickly respond to the control command in an optimal state. To provide.

1 is a graph showing a drive motor speed of a robot with respect to a command speed by a deceleration method of a drive motor of a conventional robot;

2 is a control block diagram of a driving motor acceleration / deceleration control apparatus of a robot according to an embodiment of the present invention;

3 is a flow chart illustrating a control method of a driving motor of a robot and a deceleration control device;

Figure 4 is a view showing the drive motor response speed of the robot according to the command speed improved by the drive motor, the deceleration control device and the method according to an embodiment of the present invention compared with the prior art.

<Description of the code | symbol about the principal part of drawing>

100: input means 200: control means

300: motor driving means

Driving motor of the robot of the present invention for achieving the above object, the deceleration control device is input means for setting the input conditions such as the start point, end point, speed, motion time of the robot motion, and the input set through the input means It is characterized by consisting of a control means for determining the acceleration, deceleration section and the movement speed curve of the robot motion by the condition and the built-in program, and outputs the corresponding control signal to the motor driving means of the robot.

In addition, the control method of the drive motor of the robot configured as described above, the deceleration control device is a first step of setting the input conditions, such as the start point, the end point, the speed, the motion type, and the like of the robot movement through the input means, and the first step A second step of calculating the acceleration and deceleration sections according to the input condition set in step 3, a third step of comparing the sum of the acceleration and deceleration sections with the entire movement section, and a fourth step of determining the motion type set in the first step And a fifth step of performing linear motion path interpolation by dividing the linear motion path by coordinates if the motion type is a linear motion in the fourth step, a sixth step of calculating a movement distance of the distal end of the robot, and in the first step A seventh step of determining a set speed of movement; an eighth step of selecting an optimal deceleration factor of a motion state by searching a database according to the conditions determined in the above steps; A ninth step of changing the liver by the deceleration factor selected in the eighth step; a tenth step of changing the acceleration and the deceleration curve in the acceleration and deceleration sections changed in the ninth step; and the ninth and tenth steps. And an eleventh step of outputting a control signal corresponding to the acceleration, deceleration reduction and acceleration and deceleration curves determined in the step to the motor driving means.

Hereinafter, a driving motor of a robot according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings and a deceleration control apparatus and method thereof.

2 is a control block diagram of a driving motor of a robot according to an embodiment of the present invention, a deceleration control apparatus, and includes an input means 100 and a control means 200.

The input means 100 is a means for setting input conditions such as a start point, an end point, a speed, a motion type (linear motion, a joint motion, an arc motion) of the robot motion to the control means 200, for example, a key operation button. Can be mentioned.

In addition, the control means 200 determines the acceleration, deceleration section and the corresponding motion speed curve of the robot motion by the input condition set in the input means 100 and the built-in design program, and the corresponding control signal It serves to output to the motor drive means 300 for driving the drive motor of the robot, the configuration is composed of an input / output interface device, a memory, a central processing unit (CPU) and a timer.

The operation of the drive motor of the robot composed of the above components will be described with reference to the following drawings.

FIG. 3 is a flowchart showing a control method of a deceleration control apparatus in which a drive motor of a robot is shown, where S means a step.

First, in step S1, the input means 100 is operated to set input conditions such as the start point, the end point, the speed, and the motion type of the robot motion to the control means 200.

In step S2, the acceleration and deceleration sections are calculated according to the parameters in which the control means 200 are built in accordance with the input condition set in the step S1. In step S3, the control means 200 and the step S2. Comparing the sum of the acceleration and deceleration interval calculated in the entire movement section, and in step S4 it is determined whether the motion type set in the step (S1) is a linear motion, a joint motion, or an arc motion.

In step S4, if it is a linear motion, the process proceeds to step S5 so that the control means 200 performs a linear motion path interpolation by dividing the linear motion path by coordinates, and in step S6, the control means 200 The movement distance of the distal end of the robot is calculated according to the condition set in the step S1, and in step S7, the control means 200 determines the movement speed set in the step S1.

Subsequently, in step S8, the control means 200 searches for the deceleration factor FACTOR of the database stored in the memory according to the conditions determined in the steps S5, S6, and S7, and in step S9 the control means ( A deceleration factor is selected that is optimal for the motion of the robot 200 to be performed. In step S10, the control means 200 determines the acceleration and deceleration period of the robot motion by the optimal deceleration factor selected in the step S9. In step S11, the control means 200 changes the acceleration and deceleration curves in the acceleration and deceleration sections changed in step S10.

In step S12, the control means 200 finally transmits a control signal corresponding to the acceleration, deceleration section and acceleration and deceleration curve of the robot motion determined in steps S10 and S11 to the motor driving means 300. Output and control the driving motor of the robot to finish.

On the other hand, if the motion type is a joint motion in step S4, the process proceeds to step S13, and the control means 200 performs the joint motion path interpolation to divide the joint motion path by the coordinates, and in step S14 the control means. (200) calculates the maximum moving angle of the joint according to the input condition set in the step (S1), in step S15 the control means 200 selects the maximum moving axis of the joint, and in step S16 The means 200 determines the movement speed set in the step S1 and proceeds to the step S8.

In addition, if the motion type is an arc motion in step S4, the process proceeds to step S17, and the control means 200 performs an arc motion path interpolation that divides the arc motion path by coordinates, and in step S18, the control means ( 200 calculates the circular arc moving angle according to the input condition set in the step S1, and in step S19 the control means 200 determines the movement speed set in the step S1, the step S8 Proceed to

Therefore, according to the deceleration control device and the method of the robot drive motor as described above, as shown in FIG. 4, the speed of the drive motor increases proportionally as the command speed increases, but the speed increases at an arbitrary point in time. While rapidly decreasing (a), it increases proportionally in proportion to the command speed, and shows constant speed at an arbitrary point (b), indicating that the response speed of the driving motor increases.

As described above, according to the drive motor of the robot according to the present invention, the deceleration control device and the method thereof, when the acceleration and deceleration motion of the drive motor occurs, an optimum deceleration factor (FACTOR) is obtained according to the input condition, By controlling the acceleration and deceleration movement of the drive motor, the drive motor has a quick response in the optimal state by the control command, so that the robot has a fast response speed and has an excellent effect.

Claims (4)

Input means for setting the input conditions such as start, end point, speed, motion time of the robot motion, input conditions set through the input means, and acceleration, deceleration section, and motion speed according to the built-in program. A deceleration control apparatus for a robot driving motor, comprising a control means for determining a curve and outputting a corresponding control signal to the motor driving means of the robot. A first step of setting input conditions such as a start point, an end point, a speed, a motion type, and the like of the robot motion through the input means; a second step of calculating the acceleration and deceleration sections according to the input conditions set in the first step; , The third step of comparing the sum of the deceleration sections with the entire motion section; the fourth step of determining the motion type set in the first step; and the linear motion path if the motion type is a linear motion in the fourth step. The fifth step of performing the linear motion path interpolation, the sixth step of calculating the movement distance of the distal end of the robot, the seventh step of determining the movement speed set in the first step, and the conditions determined in the steps The eighth step of selecting an optimum deceleration factor of the motion state by searching the database according to the above step; and the ninth step of changing the acceleration and deceleration sections of the robot motion by the deceleration factor selected in the eighth step; The motor driving means includes a control signal corresponding to the acceleration, deceleration reduction, acceleration, and deceleration curves determined in the ninth and tenth steps and the tenth step of changing the acceleration and deceleration curves in the acceleration and deceleration sections changed in the ninth step. The control method of the deceleration control apparatus of the drive motor of the robot characterized by consisting of the 11th step to output to. According to claim 2, If the motion type is a joint motion in the fourth step 12th step of performing a joint motion path interpolation to divide the joint motion path by coordinates, 13th step of calculating the maximum movement angle of the joint, The drive motor of the robot comprising the fourteenth step of selecting the maximum movement axis of the joint, and the fifteenth step of determining the movement speed set in the first step and proceeds to the eighth step, the control of the deceleration control device Way. 3. The method of claim 2, wherein if the motion type is an arc motion in the fourth step, the arc motion path interpolation is performed by dividing the arc motion path by coordinates; and a 17th step of calculating an arc movement angle; The control method of the deceleration control apparatus for the drive motor of the robot, characterized in that the movement speed set in the step is determined and proceeds to the eighth step.

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