Optimization And Research On Motion Control Precision Of Sewing Manipulator

With the rapid development of industry,two-dimensional sewing technology can no longer meet the actual needs of modern industrial production,and sewing technology needs to break through the application restrictions of traditional light industry.Therefore,based on the application background of industrial three-dimensional sewing device,combined with the research and development project of a company,this paper carried out a detailed study on the motion control technology of the sewing manipulator device,and applied acceleration and deceleration control technology,speed forward-looking planning and trajectory planning to the motion of the sewing manipulator device.The specific research contents are as follows:Based on the robot kinematics description method,combined with d-H coordinate parameter method,a three-dimensional model of the four-DOF manipulator was established.The modeling principle was described in detail,and the kinematics of the manipulator was analyzed.Finally,the accuracy of forward and inverse kinematics solutions of the manipulator was verified by using Matlab robot toolbox.The principle and advantages and disadvantages of the traditional acceleration and deceleration algorithm are expounded.Based on the typical characteristics of the S-shaped acceleration and deceleration curve,its characteristics under various non-ideal conditions are studied.The acceleration and deceleration curves are excellent in motion control performance.Aiming at the problem that the velocity between adjacent tiny line segments in the motion path is not smooth,the speed look-ahead control is introduced into the acceleration and deceleration control,the speed constraint model at the transition point between adjacent line segments is established,and the mathematical model of the transition point between adjacent line segments is summarized.The adaptive speed look-ahead control algorithm program is used to determine the optimal transition speed,adaptively determine the look-ahead interval through the optimal transition speed,and use the backtracking method to combine the acceleration and deceleration control with the speed look-ahead control to smoothly optimize the transition speed of the entire path.deal with.The simulation results show that the use of adaptive look-ahead processing avoids the ups and downs of the speed,and the interpolation time is reduced by 16.7% compared with the non-use look-ahead control method,which effectively improves the motion efficiency.Aiming at the requirement that the end effector of the device studied in this paper needs to move in a complex path in space,the interpolation methods of straight lines,arcs and NURBS curves in space are studied,the maximum error of the NURBS curve is analyzed,and according to the NURBS curve derivative pole The value points are divided into the look-ahead interval,which ensures the speed adaptive adjustment under the complex path of space.The simulation results show that the spatial NURBS curve interpolation speed is smooth and the interpolation error can be well controlled.