AN2350 datasheet(29/41 Pages) STMICROELECTRONICS

tên linh kiện	AN2350

Giải thích chi tiết về linh kiện	Guidelines for the control of a multiaxial planar robot with ST10F276

PDF	41 Pages

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nhà sản xuất	STMICROELECTRONICS [STMicroelectronics]

Trang chủ	http://www.st.com

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29 / 41 page

Control algorithm

AN2350

29/41

Now follows the algorithm used for the motion planning in order to build a trajectory table

whose points (as joint variables after the reversal kinematics and expressed as incremental

encoder pulses) are given as inputs to the PID control interrupt service routine every TR ,

(fixed in 20 ms).

Let

the coordinates of the start point and

the coordinates of the stop

point, vc the cruising speed and a the acceleration. From the previous equations it is

possible to obtain the time t1 and the time t3 , where:

Consider

as the generic straight-line that intersect the two points

and

, where

is the angular coefficient and

is the intersection with the Y axis.

It is possible that the cruising speed it is not compatible with the imposed acceleration and

the distance to cover: this implies that the velocity profile is not trapezoidal. For this reason a

convergent loop procedure has been developed (shown in the following scheme) that

redefines the values of t1 , vc , and t3 .

)

(

1 y

)

(

max

)

(

)

(

−

)

(

1 y

)

(

−

⎟⎟

⎠

⎞

⎜⎜

⎝

⎛

−

)

(

)

)(

(

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