Synchronous control system for multi-joint truss robot and control method of synchronous control system
A truss robot, synchronous control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of great influence on control accuracy and no effective means of suppressing detection errors, so as to improve the detection accuracy, suppress the amplification effect, The effect of improving accuracy
Active Publication Date: 2016-11-16
宁夏巨能机器人股份有限公司
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However, this control system has no effective means of suppressing the detection error, resulting in a greater impact of the detection error on the control accuracy.
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[0026] refer to Figure 1-2 , a specific embodiment of the present invention includes a drive motor 2 arranged on the movable joint 1, the movable joint 1 is arranged in series, the drive motor 2 is arranged at the driving end of the movable joint 1, and the driving end and the follower end of the movable joint 1 are respectively A support mechanism 3 is provided, and the support mechanism 3 is provided with a vibration sensor 4 and an acceleration sensor 5 , and a controller 6 communicates with each vibration sensor 4 and acceleration sensor 5 respectively. The support mechanism 3 includes a base 7 fixed on the movable joint 1, the base 7 is fixedly connected with a top plate 9 through two symmetrically arranged support plates 8, the angle between the support plate 8 and the base 7 is 71°, the distance between the base 7 and the top plate 9 A spring body 10 is also connected between them, and the spring body 10 maintains a compressed state between the base 7 and the top plate...
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The invention discloses a synchronous control system for a multi-joint truss robot. The synchronous control system comprises driving motors arranged on movable joints which are connected in series; the driving motors are arranged at the driving ends of the movable joints; the driving end and the follow-up end of each movable joint are each provided with a bracket mechanism; the bracket mechanisms are provided with vibration sensors and acceleration sensors; and a controller is in communication connection with all the vibration sensors and the acceleration sensors. The invention further discloses a control method of the synchronous control system for the multi-joint truss robot. According to the synchronous control system for the multi-joint truss robot and the control method of the synchronous control system, deficiencies in the prior art can be overcome, and the influence of detection errors on the control progress is reduced.
Description
technical field [0001] The invention relates to the technical field of factory automation, in particular to a synchronous control system and a control method of a multi-joint truss robot. Background technique [0002] Multi-motor synchronous system is an electronic control system widely used in modern industrial production. It is widely used in CNC machine tools, industrial sewing machines, robots and fire control and other fields. With the improvement of the automation degree and control precision requirements of industrial production lines, higher requirements are put forward for the real-time performance, collaboration and precision of the servo control system. Therefore, more and more occasions require two or more motors to work at the same time To achieve the purpose of ensuring accuracy and improving performance. Among them, the most typical application of multi-motor synchronization system is industrial robot. Chinese invention patent CN104440910B discloses a method...
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IPC IPC(8): B25J9/16B25J13/08
CPCB25J9/1615B25J9/1679B25J13/08B25J13/088
Inventor 宋明安李志博孙洁宋凯鑫丁建龙同彦恒麻辉
Owner 宁夏巨能机器人股份有限公司