Robot integrated joint location detecting method based on double-rotation change coaxial design

Abstract

The invention discloses a robot integrated joint location detecting method based on double-rotation change coaxial design. The method comprises the following steps: firstly, determining a difference value between absolute zero points of rotary transformers on two sides; then, using an angel increment accumulation method to accumulate increments of an angle theta M measured at the rotary transformer on a motor side and an angle theta J2 measured at the rotary transformer on a joint side during the motor rotation, and obtaining the difference value through one angle minus the other, which is the actual rotation angle of the joint. At the same time, when calculating the angle increment, the moment of crossing the zero points is specially treated, that is to say, the maximum probable value between the angle difference values at the next moment and the last moment of the motor is obtained to be taken as the critical value for judgment according to the time difference value between the maximum rotating speed of the motor and the resolved angle of the rotary transformers.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot integrated joint position detection method based on a double-rotor coaxial design. Background technique [0002] With the development of integrated circuits, power electronics technology and AC variable speed drive technology, permanent magnet AC servo drive technology has achieved outstanding development. Compared with DC servo motors, permanent magnet AC servo motors have the following main advantages: brushless and commutation Therefore, it works reliably, has low maintenance and maintenance requirements, has good speed control characteristics, and is easy to improve the rapidity of the system. Permanent magnet synchronous motors based on permanent magnet AC servo drive technology can be applied to joints and other parts of robots. [0003] In the robot joint based on the permanent magnet synchronous motor, corresponding detection elements are required to detect the ro...

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Problems solved by technology

[0004] After researching the existing technology, the inventors found that the robot joint of the permanent magnet synchronous motor in the prior art usually adopts the method of dividing the motor position by the reduction ratio n of the reducer when solving the joint rotation angle, To obtain the joint position, the algorithm for solving the joint position has low precision and poor reliability, and for this installation method, when the detection element on the motor side is damaged, the motor will be out of control and cause the joint failure of the robot

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