Multi-axis movement control method of industrial robot

An industrial robot and multi-axis motion technology, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problem that multiple axes of the robot cannot move synchronously, so as to facilitate reading information and ensure personal safety.

Active Publication Date: 2012-08-01
CHENGDU CRP ROBOT TECH CO LTD
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AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to overcome the defect that currently used robots usually use software interpolation to control axis motion, so that multiple axes of the robot cannot perform synchronous movement, and provide a method that can control multiple axes of industrial robots to perform synchronous motion. Motion based multi-axis motion control method for industrial robots

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  • Multi-axis movement control method of industrial robot
  • Multi-axis movement control method of industrial robot
  • Multi-axis movement control method of industrial robot

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Embodiment

[0031] Such as Figure 1~3 As shown, the present invention mainly controls the simultaneous movement of multiple axes of industrial robots, and its flow process is as follows figure 1 shown. First of all, the user needs to pre-set the control command of the axis movement, so that each axis of the industrial robot will act according to the pre-set command. The user inputs the set control command into the computer, and the computer processes the control command and generates a clock signal and an action signal for controlling the movement of the shaft. The motion signal includes position data and motion speed data for controlling the motion of the axes, so that each axis of the robot moves according to the clock signal and the motion signal.

[0032] The action signal is sent to the dual-port RAM through the bus driver IC for storage, and the clock signal is sent to the clock management unit through the bus driver IC. The clock management unit processes the clock signals of mu...

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Abstract

The invention discloses a multi-axis movement control method of an industrial robot, and the method is characterized by comprising the following steps of: (1) obtaining current data of each axis of the industrial robot by a computer and utilizing the current data to generate a clock signal and a movement signal for controlling the next step of the movement of each axis of the industrial robot; (2) utilizing a clock managing unit to treat the clock signal to generate a synchronous clock signal for controlling synchronous movement of each axis; (3) processing the synchronous clock signal and the movement signal through an interpolation module to generate a control pulse instruction for controlling the movement of each axis of the industrial robot; and (4) synchronously sending the control pulse instruction to a driver of each axis of the industrial robot to realize the synchronous movement of all the axes. According to the multi-axis movement control method disclosed by the invention, a plurality of axes of the industrial robot can be controlled for synchronous movement and instruction data for controlling the axial movement is corrected, so that the precision of the multi-axis synchronous movement can be better guaranteed; and therefore, the multi-axis movement control method is applicable to popularization and application.

Description

technical field [0001] The invention relates to an axis motion control method of an industrial robot, in particular to a multi-axis motion control method of an industrial robot. Background technique [0002] Currently used industrial robots usually use software interpolation method to control axis movement, because this control method is realized by software, and software programs are executed in sequence, so for robots with multiple axes Axis movement can only be performed sequentially, not synchronous movement of multiple axes. Contents of the invention [0003] The purpose of the present invention is to overcome the defect that currently used robots usually use software interpolation to control axis motion, so that multiple axes of the robot cannot perform synchronous movement, and provide a method that can control multiple axes of industrial robots to perform synchronous motion. Motion-based multi-axis motion control methods for industrial robots. [0004] The presen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
Inventor 邓世海
Owner CHENGDU CRP ROBOT TECH CO LTD
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