Movement control method for UR robot

Abstract

The invention discloses a movement control method for a UR robot. The movement control method includes the steps that a connecting rod coordinate system of the UR robot is established, and the spatial position relation between seven rod pieces and six shafts of the UR robot is obtained; after a G instruction file corresponding to the UR robot is obtained, the target movement position of the UR robot is read; after a DH parameter table of the UR robot is obtained according to the target movement position and the geometrical relation of the UR robot, the joint angles of the six shafts of the UR robot are calculated in sequence; the calculated six joint angles are converted into movement pulse numbers corresponding to the six shafts and are then sent to a driver of the UR robot; and the driver sequentially drives corresponding motors to drive the corresponding shafts to move according to the received movement pulse numbers corresponding to the six shafts. By means of the movement control method for the UR robot, the movement inverse solution is conducted on the UR robot based on the geometrical relation, and therefore control over the movement of the UR robot is achieved; and the computing speed is high, the computing efficiency is high, the control efficiency is high, and the movement control method can be widely applied to the control industry of the UR robot.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a motion control method of a UR robot. Background technique [0002] Glossary: [0003] UR robot: Universal Robot, a robot developed by the Danish UR company. [0004] With the development of science and technology, industrial robots have been widely used in various production places, and are widely used in manufacturing, installation, testing or logistics. The use of industrial robots to replace manual operations can not only improve labor productivity, but also achieve higher operational accuracy, thereby improving the production quality of products and reducing production costs in general. [0005] The kinematics of industrial robots is the basis of industrial robot control and trajectory planning, and its content includes forward kinematics and inverse kinematics. When the rotation angles of all the joints of the robot are given, the position solution of the end manipulator ca...

AI Technical Summary

Problems solved by technology

In this way, the accuracy and rationality of the trajectory of the UR robot often depends on the technical experience of people, resulting in the reliability of the trajectory of the robot cannot be guaranteed

In order to ensure the accuracy of the motion trajectory of the UR robot, the operator often needs to spend a lot of physical strength and time to constantly check the reliability and accuracy of the motion trajectory. Therefore, this method relies too much on the technical experience of the operator and is difficult to be accurate and effective. Efficiently plan motion trajectory for UR robot

Images