关于写字机器人多轴联动路径优化控制研究  

Study on Route Optimization of Multi-Axis Writing Robot

作　　者：李鹏越[1] 李晓林[1] LI Peng - yue LI Xiao - lin(College of Information Engineering, Taiyuan University of Technology, Taiyuan Shanxi 030024, Chin)

机构地区：[1]太原理工大学信息工程学院,山西太原030024

出　　处：《计算机仿真》2017年第6期335-339,共5页Computer Simulation

摘　　要：为了在保证写字路径精度的前提下提高写字速度和避免电机频繁启停,设计了采用连续小线段前瞻非对称S型插补算法的智能写字机器人。首先上位机软件将输入的字符转换为坐标形式的小线段,并对小线段利用前瞻算法进行前瞻处理,然后通过串口发送给控制器,控制器对小线段使用非对称S型直线插补算法进一步插朴密化,最后控制器将密化后的微小线段通过运动学逆解转化为电机的转动量,最终实现了对距离的精确控制。实验测试表明,该机器人平均写字速度和精度都得到了提高。In order to ensure accuracy of write path to improve writing speed and avoid motor frequently start - stop, a new type intelligent writing robot is designed based on look - ahead asymmetric S - shaped interpolation algo-rithm for continuous small lines. Firstly, the text is transformed into coordinate small lines which are processed by look -ahead algorithm, and sent to the controller by the serial port. Secondly, the controller uses asymmetric S-type linear interpolation algorithm to further interpolate smaller segments. Finally, the controller converts these tiny segments to the rotation of motors by the kinematics inverse solution and ultimately achieves a precise control of the distance. The experiment shows that the designed robot improves the average write speed and accuracy obviously.

关 键 词：写字机器人 前瞻算法 插补算法 精度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]