During the movement of the robot, in order to ensure the accuracy of the trajectory, the interpolation algorithm discretizes the motion trajectory into a large number of tiny line segments that link up front and tail, and the interpolation points are very dense. At the same time, in order to ensure the efficiency of interpolation, it is necessary to walk through a large number of such tiny segments in a short time. The speed link between the tiny segments can be divided into the following categories: 1. There is no convergence between the tiny segments, decelerate to zero, and restart the next segment. With this kind of speed convergence method, acceleration and deceleration will change frequently, which greatly reduces the efficiency of interpolation, and at the same time it will generate a great deal of vibration and form a large trajectory error; 2. No deceleration between tiny segments. This kind of interpolation efficiency is very high, but the moving path encounters a sharp turn and it is difficult to ensure the accuracy of the interpolation trajectory; 3. The tangency of the tangent or the change of the direction angle between the minute line segments is less than a certain value, and the maximum speed limit is set according to whether the deceleration processing or the movement path encounters a sharp turn. In this way, the pre-reading process path can be used for speed planning (speed look-ahead) to ensure the interpolation efficiency while satisfying the precision of the interpolation trajectory. Forward-looking control can analyze and process the trajectory in advance, find high curvature points and sharp corners, and then plan the speed on the path to find the deceleration point, ensure the machining accuracy while satisfying the robot's acceleration and deceleration characteristics, and ensure the maximum speed. At the same time, the smooth transition of speed is achieved. The ripping robot provides forward-looking control interpolation function for continuous tiny segments. It supports up to 100-segment look-ahead and greatly improves the interpolation efficiency without affecting the accuracy of the interpolation trajectory. Compared with the traditional speed planning algorithm, under the same processing conditions, the machining efficiency is significantly improved, making the robot movement more stable and reliable. Sky robot speed preview The key to completing the speed preview is to derive the convergence speed of the adjacent interpolation segments. As shown in the figure, six interpolation points a, b, c, d, e, and f are sequentially taken on the machining trajectory in advance to constitute five segments of ab, bc, cd, de, and ef. Calculate the angle between adjacent interpolation segments and find high curvature points from the comparison. The larger the curvature is, the smaller the allowable speed is when connecting segments. It can be seen from the figure that c and e are the demarcation points, and the ab and bc segments are interpolated as a whole, and the cd and de two segments are interpolated as a whole, so that the entire interpolation is based on the curvature of the ac terminal segments. The line segment with little change in connection speed on the supplemental trajectory serves as an overall interpolation, reducing the change of acceleration and deceleration and improving the processing efficiency. Analyze and deal with the movement trajectory in advance to find deceleration points c and e. First, determine the maximum speed when the interpolation section on both sides of the deceleration point meets according to the speed constraint conditions, and ensure smooth interpolation while ensuring the interpolation accuracy. Medical Regulator Oxygen,Medical Regulator Set,Medical Device Regulator,Medical Oxygen Regulator Jiangsu Minnuo Group Co., Ltd. , https://www.minnuocm.com