A motion reproduction method of an industrial multi-axis manipulator

Abstract

The invention provides a method for motion reappearance of an industrial multi-axial mechanical arm. According to the method, the multi-axial mechanical arm, a mechanical arm controller, an upper computer and an industrial personal computer need to be provided. Data communication between the upper computer and the mechanical arm controller is achieved through the industrial personal computer and the Ethernet. When the multi-axial mechanical arm runs, motion parameters in the motion process of the multi-axial mechanical arm are collected in real time according to a well set sampling period, and the motion parameters are stored into the upper computer. When motion tracks need to reappear, the recorded motion parameters are sequentially sent to the mechanical arm controller according to the recording sequence and a set data reappearance period, and the complete reappearance of the whole operation process is controlled. According to the method, the technical problems that an existing method for motion reappearance of the industrial multi-axial mechanical arm has high requirements on users' professional requirements, motion tracks in teaching cannot reappear precisely, it is difficult to modify reappearance programs and it is inconvenient to perform trouble shooting are solved.

Description

technical field [0001] The invention belongs to the technical field of motion control of industrial manipulators, and in particular relates to a motion reproduction method of an industrial multi-axis manipulator. Background technique [0002] The teaching reproduction based on the teaching programmer of the manipulator is the most common method to realize the motion reproduction of the multi-axis manipulator. Most of the multi-axis manipulators used in industry now have the function of teaching and reproducing, which can repeatedly reproduce the operation program stored through teaching and programming. The programming ability of the multi-axis manipulator system greatly determines the flexibility and intelligence of the multi-axis manipulator function. [0003] In the above-mentioned teaching and reproduction methods, common problems are: (1) The motion reproduction program must be pre-programmed or taught, and the professional knowledge requirements for the operator of th...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a motion reproduction method of an industrial multi-axis manipulator, which solves the problem that the existing industrial multi-axis manipulator motion reproduction method has high professional requirements for users and cannot accurately reproduce the motion track during teaching, Reproduce the technical problems of difficult program modification and inconvenient fault finding

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