摘要
控制系统的位置精度和运行时间是衡量施釉机器手好坏的主要性能指标,加减速模式特别是减速模式对其性能有着重要的影响。本文针对在施釉机械手运动过程的最后减速阶段仍会出现低速运行的"尾巴"现象,提出了一种新的实时加减速优化算法,并给出了试验结果。结果表明,该算法可有效消除减速过程中的低速运行时间段,从而提高施釉机械手的加工精度和效率。
The positioning accuracy and positioning time of the glazing robot are the main performance criteria for industrial applications.The acceleration/deceleration modes,especially deceleration mode,have an important effect on the perform criteria.A new real-time deceleration and acceleration algorithm was introduced after analyzing the cause of ＂tail problem＂.The implementation of the proposed deceleration algorithm shows the proposed algorithm is effective so that the accuracy and efficiency of the glazing robot can be improved.
出处
《江苏陶瓷》
CAS
2011年第2期15-16,19,共3页
Jiangsu Ceramics
关键词
加减速
施釉机械手
实时
Acceleration/deceleration algorithm
Glazing robot
Real-time
