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A positioning method of a robotic arm

A positioning method and technology of robotic arms, applied to manipulators, manufacturing tools, etc., can solve problems such as long correction time, shorten the adjustment time, reduce the number of reciprocating adjustments, and reduce the adjustment range.

Active Publication Date: 2017-07-04
宁夏巨能机器人股份有限公司
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Problems solved by technology

However, such prior art methods directly measure the terminal that needs to be positioned, and perform error correction based on the measurement results. Since the movable joints of the multi-degree-of-freedom robot arm are set in series, multiple When the error correction of the robot arm with degrees of freedom is performed, each movable joint will affect each other in series, causing the correction time to be too long

Method used

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  • A positioning method of a robotic arm
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  • A positioning method of a robotic arm

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Embodiment Construction

[0016] A method for positioning a robot arm, the steps are as follows:

[0017] A. On the basis of the existing encoder on the movable joint of the robot arm, an independent angle detection device is set at each movable joint of the robot arm to measure the angle of each movable joint of the robot arm;

[0018] B. The control terminal uses the rotation angle of the movable joint collected by the encoder to control the movement trajectory of the robot arm;

[0019] C. Measure the actual position of each movable joint on the robot arm through the angle detection device, and obtain the error between the actual angle of the movable joint and the target angle;

[0020] D. Set the first correlation factor between the angle error of each movable joint and the end position of the robot arm and the second correlation factor of each movable joint and its downstream movable joint, and then use the first correlation factor and the second correlation factor to each Angle adjustment of mov...

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Abstract

The invention discloses a positioning method for a manipulator arm. According to the method, by setting first relevancy factors and second relevancy factors, angles of all movable joints are sequentially corrected. The method can solve the defects of the prior art, change correcting methods of the prior art, and improvethe speed for correcting errors of a manipulator arm with multiple degrees of freedom.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a positioning method for a robot arm. Background technique [0002] The positioning control of the multi-degree-of-freedom robot arm is a major difficulty of the multi-degree-of-freedom robot arm. If the positioning error at the end of the robot arm is not corrected, errors will accumulate during multiple movements, and eventually the robot arm will not work normally. Work. In the prior art, the positioning of the multi-degree-of-freedom robot arm is generally measured by an independent terminal measuring device to measure the end position of the robot arm, so as to achieve the purpose of correcting the position error of the robot arm end. For example, Chinese invention patent CN102121827B discloses a mobile robot positioning system and its positioning method, using ultrasonic laser and dead reckoning positioning system to independently position and correct the position of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J13/08
Inventor 宋明安王小龙孙洁同彦恒李志博麻辉
Owner 宁夏巨能机器人股份有限公司
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