A kind of servo motor driving device and its driving method for robot hand

Abstract

The invention discloses a servo motor drive device for a robot arm, which comprises a drive controller, a position control module and a pulse width modulation inverter electrically connected to the drive controller; and a speed control module electrically connected to the position control module. unit, and the servo motor electrically connected with the speed control unit; and the robot hand installed in cooperation with the servo motor, and the speed measuring device installed at the shaft of the servo motor, and the three-dimensional acceleration sensor installed on the robot hand, the speed measuring device and the three-dimensional The acceleration sensors are respectively electrically connected to the drive controller through the conditioning circuit; the above-mentioned driving method for the servo motor drive device of the robot includes the following steps: the first step, initializing the drive, the second step, collecting feedback signals, and the third step, feedback Speed ​​signal response, the fourth step is feedback position signal response, the servo motor drive device and its drive method used in the robot hand of the present invention can correct deviation and realize joint adjustment of position and speed.

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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