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Motion controller for elastic robotic structures

A robot and controller technology, applied in general control systems, program control, program control manipulators, etc., can solve problems such as unsatisfactory positioning accuracy of robots

Active Publication Date: 2012-02-22
DUERR SYST GMBH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in this prior art, the positioning accuracy of the robot is not satisfactory either

Method used

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  • Motion controller for elastic robotic structures
  • Motion controller for elastic robotic structures
  • Motion controller for elastic robotic structures

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0039] figure 1 The figure in shows a simplified schematic diagram of a robot control system for actuating a multi-axis painting robot according to the present invention.

[0040] Here, the individual robot axes are driven by drive motors 1 , which are known per se from the above-cited patent application DE 10342471 A1.

[0041] The drive motors 1 in the individual robot axes are respectively supplied with a predetermined current value by the axis controller 2 for the individual robot axes. I is actuated, the underlined values ​​here and below each represent a vector which each contains a component for each robot axis.

[0042] Furthermore, the robot control system according to the present invention comprises a path interpolator 3, which receives as an input variable a predetermined path of the robot via a plurality of path points, wherein each path point is to be controlled by a tool of the painting robot The center point (TCP) passes through and is correspondingly defined ...

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Abstract

A predetermined robot path includes a plurality of path points defined by spatial coordinates. Spatial coordinates of the individual path points are converted in accordance with inverse robot kinematics into corresponding axis coordinates, the axis coordinates representing the position of the individual robot axes at respective path points. Axis-related controllers are actuated for individual robot axes in accordance with converted axis coordinates. Axis-related drive motors in individual robot axes are actuated by at least associated axis-related controllers. Path correction values are determined for individual path points on the robot path in accordance with a dynamic robot model, the path correction values taking account of the elasticity, friction, and / or inertia of the robot. Corrected axis coordinates are determined for the individual path points from uncorrected axis coordinates of individual path points and path correction values. The axis-related controllers are actuated with at least corrected axis coordinates.

Description

technical field [0001] The invention relates to a control method for a multi-axis robot, in particular for a painting robot, according to the main claim. Background technique [0002] DE 10342471 A1 discloses a robot control system for a multi-axis painting robot which moves a tool center point (TCP) along a predetermined robot path. The existing robot control system can consider and compensate the mechanical elasticity of each robot axis, so as to improve the positioning accuracy of the spraying robot. In this case, the individual robot axes of the painting robot are each actuated by an axis controller, the mechanical elasticity of the painting robot is taken into account, since the deviation of the axis controllers of the relatively more flexible robot axes is in the axial overlapping connection Axis controllers acting on relatively rigid axes. [0003] This existing robot control system has proven to be advantageous, but it is still desirable, especially in the case of ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCG05B2219/41443B25J9/1641G05B2219/39186G05B2219/41448G05B2219/39181G05B2219/41127
Inventor J·黑克尔B·舍尔A·迈斯纳
Owner DUERR SYST GMBH