Industrial robot control method

Abstract

The invention relates to a programmable robot control method. The programmable robot control method comprises following steps: (1) Three dimensional shape data, weight and material data of a clamped workpiece are inputted; (2) According to the inputted three-dimensional shape data of the workpiece, clamped surface of the workpiece is determined; (3) The minimum contact area of the workpiece clamped surface is determined;(4) The operation of initial workpiece clamping area is determined; (5) According to the clamped area of the workpiece and three-dimensional shapeof the workpiece, the stress area of the connecting parts of the programmable robot is determined; (6) Pedometer counts for this operation; (7) When the operating frequency reaches the threshold value, the control part determines the change operation of the clamped part. There is no overlap area between the stressed area of contact position of contact structure and workpiece after the change and before the change.

Description

technical field [0001] The invention relates to a robot, in particular to a control method for a program-controlled robot in the industrial field. Background technique [0002] An industrial robot is a multi-joint manipulator or multi-degree-of-freedom robot for the industrial field. It is a machine device that performs work automatically. It is a machine that realizes various functions by its own power and control capabilities; Execute the motion path and work according to the set program. [0003] As a typical mechatronic digital equipment in the advanced manufacturing industry, industrial robots have become an important symbol to measure a country's manufacturing level and technological level. Typical applications of industrial robots include welding, painting, assembly, picking and placing, packaging and palletizing, product inspection and testing, etc. In industrially developed countries, industrial robots and complete sets of automated production line equipment have ...

AI Technical Summary

Problems solved by technology

However, this invention also has the following disadvantages: (1) the change of its contact position is only to change in the left and right direction or up and down direction with a specific length such as more than ten millimeters, and there may be a large part of the contact position after the change and the contact position before the change. The coincidence of using this change operation may cause some areas to continue to receive the action of the workpiece, affecting the service life of the clamping part; (2) Changing the clamping position may reduce the contact area between the workpiece and the clamping part, thus making the clamping The pressure in the internal force area increases, causing it to be damaged, or the contact surface is reduced so that the friction force on the workpiece is reduced, resulting in the inability to clamp the workpiece

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