System and method for improving performance of incremental code disc

Abstract

The invention discloses a system and a method for improving performance of an incremental code disc. A single-chip microcomputer system is added on the basis of a robot computer system to achieve performance improvement. The robot computer system is used for controlling operation of a robot and detecting current position information of a robot joint through the incremental code disc. The robot computer system sends the current position information of the robot joint to the single-chip microcomputer system when the robot finishes working and receives the current position information of the robot joint from the single-chip microcomputer system when the robot starts working. The single-chip microcomputer system is used for detecting pulse information sent by the incremental code disc after receiving the current position information of the robot joint sent by the robot computer system and updating the current position information of the robot joint according to the pulse information. By means of the system, a current position of a motor can be obtained correctly at any time, absolute counting of the incremental code disc is achieved, and the requirements of producers for low cost and high performance of a robot system are met.

Description

technical field [0001] The invention belongs to the field of robot automation, and in particular relates to a system and method for improving the performance of an incremental code disc. Background technique [0002] Robot manipulation refers to the movement of the end tool in space through some mechanism. In order to meet the actual production needs, the end tool should move according to the determined trajectory, that is, control the pose of the robot end tool at each moment, which needs to be realized by controlling the accurate position of each joint of the robot at any time. Therefore, it is of great significance to accurately record the position of the motor. [0003] There are many methods for detecting the position of servo motors, among which photoelectric encoders are the most widely used in robot control. Photoelectric code discs are usually divided into absolute code discs and incremental code discs according to the different signals generated by the work. Amo...

AI Technical Summary

Problems solved by technology

For servo motors using incremental code discs, when the system is powered off, the motor must not have any vibration, otherwise, the zero position memorized by the counting device will be offset, and this offset can only be confirmed after the wrong production result occurs. You know, this is not allowed to happen in the industrial field

[0004] To sum up, the position information of the absolute code wheel can be read directly at any time, but the cost is high and the hardware circuit is complicated

For incremental encoders, when the motor restarts after power failure, or the motor rotates abnormally during power failure, such as when the brake fails, the actual position of the motor is difficult to know

Therefore, for servo motors with incremental code discs, an external system is required to record the position of the motor when the upper computer is powered off, otherwise it is troublesome to recalibrate the position of the motor every time it is turned on, and sometimes it is not feasible

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