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SCARA robot joint zero returning control method

A technology of robot joints and robots, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., to improve positioning accuracy and avoid collision damage

Active Publication Date: 2016-06-15
CHERY AUTOMOBILE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the zero return method is easily affected by external factors such as proximity switch response accuracy, power fluctuations, and zero return feed speed, and the zero return error of the machine can reach above the silk level.

Method used

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  • SCARA robot joint zero returning control method

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Embodiment Construction

[0017] The specific embodiment of the present invention will be described in further detail by describing the embodiments below with reference to the accompanying drawings, the purpose is to help those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solutions of the present invention, and contribute to its implementation.

[0018] Such as figure 1 As shown, the present invention provides a kind of SCARA robot joint zero return control method, and it comprises the following steps:

[0019] (1) The joint motor reverses and detects the zero point;

[0020] (2) When the zero position is detected, the joint motor continues to reverse;

[0021] (3) The joint motor rotates forward and detects the zero point;

[0022] (4) When the zero position is detected, the joint motor stops running, and the zero return process is completed.

[0023] Specifically, according to the control function requirements of the system, the SCAR...

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Abstract

The invention provides a SCARA robot joint zero returning control method. The SCARA robot joint zero returning control method comprises the following steps: (1) a joint motor reversely rotates and detects a zero point; (2) when the zero point position is detected, the joint motor continuously rotates reversely; (3) the joint motor forwards rotates and detects the zero point; and (4) when the zero point position is detected, the joint motor stops operating to finish the zero returning process. The SCARA robot joint zero returning control method improves the zero returning positioning precision. Meanwhile, a position sensor is adopted to perform the zero returning operation to prevent the collision damage of a robot.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, in particular, the invention relates to a control method for returning a SCARA robot joint to zero. Background technique [0002] With the continuous expansion of the application field of industrial robots, the working environment of industrial robots is becoming more and more complex, and the tasks they face are becoming more and more difficult. In the actual operation and use of industrial robots, after the robot is powered on, it needs to perform a zero return operation to return each axis of the robot to the initial position, which can also be called the reference point or mechanical zero point, which is the mechanical origin specified by the industrial robot manufacturer. At the maximum stroke in the positive direction of each feed axis. In some cases, the operation of returning the machine to zero must be performed first. [0003] The existing SCARA (SelectiveComplianceAssemblyR...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J17/02
CPCB25J9/163B25J17/02
Inventor 江涛朱志军
Owner CHERY AUTOMOBILE CO LTD
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