LI Jinwen, HE Sumei, WU Haibin

 

(School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China)

 

 

Abstract: Aiming at realizing linear interpolation for a robot based on PLC controler, the methods were studied to reduce the requirements of the controller′s hardware configuration and performance for the robot linear interpolation motion. A linear interpolation algorithm based on constant time intervals (namely is constant time period method) was proposed. The interpolation period was used to adjust the interpolation precision, thus further to change the requirements of controller′s running speed and data storage space. The interpolation algorithm was applied and verified on a selfdeveloped four joints stamping loading and unloading robot based on Panasonic FPX PLC controller. The qualitative and quantitative analyses of interpolation error were also carried out. The results indicate that the proposed algorithm can fully run on a general PLC without interpolation commands and meet the requirements of linear interpolation precision, which is important to reduce the development cost of robot.

 

Key words: robot; constant time intervals; linear interpolation; PLC; error analysis