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Determination method of limit interpolation points in industrial robot control system

Published online by Cambridge University Press:  04 April 2025

Zhenyang Lv Open the ORCID record for Zhenyang Lv [Opens in a new window] ,
Yi Wang ,
Guangpeng Zhang  and
Xionghui Wang
Zhenyang Lv
Affiliation:
School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an, Shaanxi, People’s Republic of China
Yi Wang
Affiliation:
School of Art and Design, Xi’an University of Technology, Xi’an, Shaanxi, People’s Republic of China
Guangpeng Zhang*
Affiliation:
School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an, Shaanxi, People’s Republic of China
Xionghui Wang
Affiliation:
School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an, Shaanxi, People’s Republic of China
*
Corresponding author: Guangpeng Zhang; Email: gpzhang@xaut.edu.cn
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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.

Keywords

industrial robotbeckhoff controllerarc interpolationlimit interpolation points

Information

Type
Research Article
Information
Robotica , Volume 43 , Issue 4 , April 2025 , pp. 1533 - 1547
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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