Determination method of limit interpolation points in industrial robot control system

摘要

Abstract With advancements in industrial robot technology and the ongoing enhancements in control system performance, the demand for precise robot motion is increasing. Generally, an increased number of interpolation points enhances the precision of robot movement, but excessive points can lead to jittering and out-of-step issues. This paper investigates the relationship between the number of motion interpolation points and the response times of the control system and the robot’s terminal velocity, based on the theoretical calculation and experimental analysis of the limit interpolation points for the control system of a self-developed 6-DOF (Six Degree of Freedom) robot. The method for calculating limit interpolation points is refined using the least squares method, and equations are derived for different control system response time and robot’s terminal velocity reaction times. The validity of the prediction curves is verified through experimental analysis.