一种直线插补算法及其在机器人中的应用研究  

Linear interpolation algorithm and its application in robot

作　　者：李进文[1] 何素梅[1] 吴海彬[1] 

机构地区：[1]福州大学机械工程与自动化学院,福建福州350108

出　　处：《机电工程》2015年第7期966-970,共5页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(51175084)

摘　　要：针对基于PLC控制器的机器人实现直线插补的问题,对在降低控制器硬件配置和性能要求的条件下实现机器人直线插补的方法进行了研究,提出了一种基于等时间间隔的直线插补算法,即等时间周期法。该算法可以通过改变插补周期调整插补精度,从而改变插补算法所需的控制器运行速度和数据存储空间。在自主研发的四关节冲床上下料机器人上,采用松下FP-X型PLC作为控制器,对提出的插补算法进行了实验和验证,对插补误差进行了定性和定量分析。研究结果表明,所提出的插补算法完全能够在无插补指令的PLC上运行,并满足直线插补精度的要求,这对降低机器人的开发成本具有重要意义。Aiming at realizing linear interpolation for a robot based on PLC controler,the methods were studied to reduce the requirements of the controller＇s hardware configuration and performance for the robot linear interpolation motion. A linear interpolation algorithm based on constant time intervals（ namely is constant time period method） was proposed. The interpolation period was used to adjust the interpolation precision,thus further to change the requirements of controller＇s running speed and data storage space. The interpolation algorithm was applied and verified on a self-developed four joints stamping loading and unloading robot based on Panasonic FP-X PLC controller. The qualitative and quantitative analyses of interpolation error were also carried out. The results indicate that the proposed algorithm can fully run on a general PLC without interpolation commands and meet the requirements of linear interpolation precision,which is important to reduce the development cost of robot.

关 键 词：机器人 等时间间隔 直线插补 PLC 误差分析 

分 类 号：TH39[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]