Method for controlling starting and stopping of joint movements of multi-degree-of-freedom (multi-DOF) industrial robot

An industrial robot, joint motion technology, applied in manufacturing tools, manipulators, etc., can solve problems such as affecting work efficiency and incapable of fast-paced production occasions

Inactive Publication Date: 2013-01-23
LUDONG UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If each joint of the robot adopts a sequential movement method, it will affect the work efficiency
Unsuitable for fast-paced production occasions

Method used

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  • Method for controlling starting and stopping of joint movements of multi-degree-of-freedom (multi-DOF) industrial robot

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Embodiment Construction

[0012] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0013] Such as figure 1 Shown: The method of controlling the servo motor speed for the above control system is:

[0014] 1) First execute step 101 to find the difference between the coordinates that each joint is about to arrive at and the coordinates just arrived, and set it as DIFi,

[0015] If the movement of each joint is the first step, DIFi is equal to the coordinate value that each joint is about to reach.

[0016] 2) Then execute step 102 to find the maximum distance that several joints will move, and set it as MaxDistance.

[0017] 3) Then execute step 103, calculate the ratio of the calculation result of step 102 and the calculation result of step 103, set it as V_RATIOi.

[0018] 4) Then execute step 104, multiply a base velocity by V_RATIOi as the velocity of each joint movement, and set it as Vi.

[0019] 5) If you want to increase the ...

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Abstract

The invention discloses a method for controlling the starting and stopping of joint movements of a multi-degree-of-freedom (multi-DOF) industrial robot. The method is used for movement control on the industrial robot. According to the method, the simultaneous starting and the simultaneous stopping of each joint of a 6-DOF industrial robot are realized, and the adjustment on the movement speed of each joint is realized. The method comprises the following steps of: evaluating the difference between a to-be-arrived coordinate and a just arrived coordinate in a program of a control system, wherein if the movement of each joint is the first step, the difference between the coordinate values is equal to the just arrived coordinate value of each joint; evaluating the to-be-moved maximum distance of a plurality of joints; calculating the ratio of a calculated result in the first step to a calculated result in the second step; and multiplying a base speed value by the value calculated in the last step to obtain a movement speed value of each joint. The movement speed of each joint can be changed by pressing an 'acceleration' button and a 'deceleration' button on an operation and control panel. The method disclosed by the invention has the beneficial effects that 1. the working efficiency of the industrial robot can be improved; 2. the industrial robot adopting the technical scheme can work in production occasions with different speed requirements; and 3. the control on the movement speed of each joint of the industrial robot can be convenient and liable.

Description

technical field [0001] The invention belongs to the technical field of automatic control of industrial robots. Background technique [0002] A multi-degree-of-freedom industrial robot has multiple joints, and the movement of each joint is driven by a servo motor. The movement of each joint is to allow the manipulator installed at the end joint to move from one point to another, so as to complete the work of the industrial robot. The movement of each joint of the robot can be in two ways, one is that each joint adopts a sequential movement mode; the other is a movement mode that starts and stops at the same time. Most of the general industrial robots work on the production line, and there is a requirement for them to work, that is, the efficiency requirement. If each joint of the robot adopts a sequential movement mode, it will affect the work efficiency. Unable to handle fast-paced production occasions. Contents of the invention [0003] The purpose of the present inve...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00
Inventor 魏二有
Owner LUDONG UNIVERSITY
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