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Novel four-axis robot control system

A four-axis robot and control system technology, applied in the field of robotics, can solve problems such as simplicity and inability to meet the multi-function of robots, and achieve the effect of flexible movement

Active Publication Date: 2015-04-22
GUILIN UNIV OF ELECTRONIC TECH
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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 new type of four-axis robot control system, which solves the problem that the motion control system of the current general-purpose robot is relatively simple and cannot satisfy the multi-function of the robot

Method used

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Embodiment Construction

[0015] The present invention will be described in detail below in combination with specific embodiments.

[0016] The present invention is a kind of control system that realizes PTP motion control (point position control); figure 1 Shown, the system of the present invention comprises host computer, motion control system, servo drive, servo motor, encoder; It is composed of logic device, stm32 module (ARM Cortex-M3 core), input and output module, and power supply module; the motion control system realizes the control of the robot according to the motion information sent by the host computer.

[0017] Such as figure 2 For the transmission of control information shown, set parameters in the host computer, such as target point coordinates, point motion path, motion block coordinates and block motion path, and the host computer converts the input parameters into the operating data of the servo motor on the robot joint, The operating data of the servo motor includes the angular v...

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Abstract

The invention discloses a novel four-axis robot control system. The upper computer translates the inputted parameter into the running data of the servo motor on the robot joint and sends the data to a DSP module, the DSP module translates the running data of the servo motor into the drive information of the servo driver and sends the information to a CPLED module, the CPLED module exactly sends pulse count to the servo driver for driving the robot joint for moving and finishing the action, an encoder records the running actual position data of the servo motor at real time and sends the data to the stm32 module, the stm32 module calculates the received data and sends the calculated data to the DSP module, the DSP module compares the received running actual position data of the servo motor with the running data of the servo motor and compensates the movement error of the servo motor for forming a closed ring control system. The novel four-axis robot control system has the beneficial effects that a system capable of controlling the four axes of the robot is provided, the movement of the robot is flexible and the function is diversified.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a novel four-axis robot control system. Background technique [0002] In chip inspection, circuit board patch processing, assembly and other industries, the main work is repeated multiple single actions, using robots instead of manual operations can increase production efficiency, improve product quality, and reduce production costs; in these In the industry, the repeated actions are generally regional (that is, moving back and forth between multiple areas), there are many target movement points, and there are high requirements for position accuracy, repeat accuracy, speed, etc.; general-purpose robots are used to realize these actions , It is not easy to write programs, and generally requires professional and technical personnel to complete; for industries with regional action requirements, it is very promising to design a system that can realize robot control without operator progr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1628
Inventor 郝卫东李君李雪梅蒋相国梁卫鸽陈志丹闫伟
Owner GUILIN UNIV OF ELECTRONIC TECH
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