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Robot double-arm synchronizing control method and system

A technology of synchronous control and dual arms, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of difficult coordination and low synchronization rate of the two arms of the robot, and achieve the effect of improving the performance of synchronous control

Active Publication Date: 2015-03-25
MIANYANG WEIBO ELECTRONICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a method for realizing the synchronous control of the two arms of the robot, which effectively solves the problem that the two arms of the robot are difficult to coordinate and the synchronization rate is low, and improves the synchronous control performance of the two arms of the robot; another purpose of the present invention is Provide a system to realize the synchronous control of robot arms

Method used

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  • Robot double-arm synchronizing control method and system
  • Robot double-arm synchronizing control method and system
  • Robot double-arm synchronizing control method and system

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Embodiment 1

[0040] Please refer to figure 1 , figure 1 It is a flow chart of a method for realizing synchronous control of a robot's dual arms disclosed in Embodiment 1 of the present invention, the method comprising:

[0041] Step s101: the central processing unit of the electronic control system receives the given speed value sent by the host computer, and sends to the PLC a speed command for controlling the left-hand drive motor and the right-hand drive motor to operate at the given speed value;

[0042] It can be understood that the upper computer first sets the control mode of the left-hand drive motor and the right-hand drive motor of the robot to the speed control mode, and then transmits the given speed value to the central processing unit of the electronic control system through the bus. After receiving the motor control mode transmitted by the host computer, the central processing unit of the electronic control system immediately sends instructions to the PLC (Programmable Logic ...

Embodiment 2

[0057] Please refer to figure 2 , figure 2 It is a flow chart of another method for realizing the synchronous control of the robot's dual arms disclosed in Embodiment 2 of the present invention. The method includes:

[0058] Step s201: the central processing unit of the electronic control system receives the given speed value sent by the upper computer, and sends to the PLC a speed command for controlling the left-hand drive motor and the right-hand drive motor to operate at the given speed value;

[0059] Step s202: the PLC receives the speed command from the central processing unit of the electronic control system, and controls the left-hand drive motor and the right-hand drive motor to operate according to a given speed value;

[0060] Step s203: the speed collector collects the first speed response value of the left-hand drive motor and the second speed response value of the right-hand drive motor, and feeds back the speed response values ​​to the central processing uni...

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Abstract

The invention discloses a robot double-arm synchronizing control method and system. The method includes the steps that an electric control system central processing unit receives the speed response value fed back by a speed collector, the first speed response value, the second speed response value and the difference value absolute value of the given speed value are computed, and the first difference value absolute valve and the second difference value absolute value are obtained correspondingly; when both the first difference value absolute value and the second difference value absolute value are in the first error range, the difference valve absolute value between the first speed response value and the second speed response value is computed, and the relative difference value absolute value is obtained; when the relative difference value absolute value is in the second error range, a left hand drive motor and a right hand drive motor are controlled to operate. Compared with the prior art, the robot double-arm synchronizing control method and system effectively solve the problems that it is difficult to coordinate double arms of a robot, and the synchronizing efficiency is low and improve the synchronizing control performance of the double arms of the robot.

Description

technical field [0001] The invention relates to the field of multi-motor synchronous control, in particular to a method and system for realizing the synchronous control of a robot's dual arms. Background technique [0002] Multi-motor synchronous system is an electronic control system widely used in modern industrial production. It is widely used in CNC machine tools, industrial sewing machines, robots and fire control and other fields. With the improvement of the automation degree and control precision requirements of industrial production lines, higher requirements are put forward for the real-time performance, collaboration and precision of the servo control system. Therefore, more and more occasions require two or more motors to work at the same time To achieve the purpose of ensuring accuracy and improving performance. Among them, the most typical application of multi-motor synchronization system is industrial robot. [0003] In traditional robot synchronous control, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/18
Inventor 郭丽石航飞陈志锦王钤吴航李正丽李勇葛俊佐
Owner MIANYANG WEIBO ELECTRONICS