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AN2350 датащи(PDF) 30 Page - STMicroelectronics

номер детали AN2350
подробное описание детали  Guidelines for the control of a multiaxial planar robot with ST10F276
PDF  41 Pages
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производитель  STMICROELECTRONICS [STMicroelectronics]
домашняя страница  http://www.st.com
Logo STMICROELECTRONICS - STMicroelectronics

AN2350 датащи(HTML) 30 Page - STMicroelectronics

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Control algorithm
AN2350
30/41
Figure 22.
Convergent loop procedure for a trapezoidal velocity profile
At the generic sampling time Ti , the covered distance, accordingly to the previous equation,
is equal to
; so the point
of the trajectory to reach in a straight-line motion
at time Ti in the workspace, can be obtained resolving the following system:
Knowing
it is possible to obtain the corresponding joint variables
α
1 and α2 with the
inverse kinematics equations. These joint variables must be opportunely converted in
incremental encoder pulses, because the position closed loop control is performed on the
feedback of the incremental encoders of the two joints.
During the trajectory planning it is very important that the manipulator avoids crossing the
kinematics singularities of the accessible workspace since they could make the continuation
of the trajectory impossible.
For this wafer handler, these singularities are distributed along the circle with radius 51 mm
and center in the origin of the base coordinates. The motion singularity appears only when
the manipulator, during the motion, crosses the point of the circle assuming a configuration
with the arms aligned, as shown in the following figure.
Acceleration a
Cruising Speed vc
Max Distance Smax
N
Y
t1 ≥ t3 / 2
t1 = vc / a
t3 = t1 + smax / vc
t1 = t3 / 2 - TR
vc = t1 . a
t3 = t1 + smax / vc
)
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