Driving device of servo motor for robot hand and driving method for driving device

Abstract

The invention discloses a driving device of a servo motor for a robot hand. The driving device comprises a driving controller, a position control module, a pulse width modulation inverter, a speed control unit, a servo motor, a robot hand, a speed measuring device and a three-dimensional acceleration sensor, wherein the position control module and the pulse width modulation inverter are electrically connected with the driving controller; the speed control unit is electrically connected with the position control module; the servo motor is electrically connected with the speed control unit; the robot hand is matched with the servo motor; the speed measuring device is arranged at a rotating shaft of the servo motor; the three-dimensional acceleration sensor is arranged on the robot hand; and the speed measuring device and the three-dimensional acceleration sensor are respectively electrically connected with the driving controller through a conditioning circuit. A driving method for the driving device of the servo motor for the robot hand comprises the following steps of firstly, initially driving; secondly, acquiring a feedback signal; thirdly, responding a feedback speed signal; and fourthly, responding a feedback position signal. The driving device of the servo motor for the robot hand and the driving method for the driving device can be used for rectifying a deviation and realizing position and speed combined adjustment.

Description

technical field [0001] The invention relates to a driving device, in particular to a servo motor driving device for a robot hand and a driving method thereof, and belongs to the technical field of robot hand components. Background technique [0002] The robot hand can imitate certain action functions of the human hand and arm, and is used to grab, carry objects or operate tools according to a fixed program; the robot hand is the earliest industrial robot and the earliest modern robot. It can replace human The heavy labor is used to realize the mechanization and automation of production, and it can operate in a harmful environment to protect personal safety, so it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other departments; the core component of the servo robot is the servo The working state of the motor and servo motor directly determines the performance of the robot hand. The existing servo motor needs to be con...

AI Technical Summary

Problems solved by technology

[0002] The robot hand can imitate certain action functions of the human hand and arm, and is used to grab and carry objects or operate automatic operation devices according to a fixed program; the robot hand is the earliest industrial robot and the earliest modern robot. It can replace human The heavy labor is used to realize the mechanization and automation of production, and it can operate in a harmful environment to protect personal safety, so it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other departments; among them, the core component of the servo robot is the servo The working state of the motor and servo motor directly determines the performance of the robot hand. The existing servo motor needs to be controlled by a driver; it is mainly used in high-precision positioning systems; generally, the servo motor is controlled by three methods: position, speed and torque. Control to achieve high-precision positioning of the transmission system; the existing servo motor drivers are all individually fed back and individually adjusted, and the adjustment effect is relatively poor

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