Robot adaptive control servo driving method and system
A self-adaptive control, servo-driven technology, applied in control/regulation systems, non-electric variable control, two-dimensional position/channel control, etc., can solve matching problems, achieve optimal processing, and ensure the effect of self-adaptive regulation speed
Inactive Publication Date: 2017-04-19
华南智能机器人创新研究院
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Problems solved by technology
[0004] There are some shortcomings in the existing robot based on the navigation system to realize the self-adaptive control servo drive, which cannot be matched according to the position and time relationship of different path segments to achieve the self-adaptive process
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[0052] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0053] The method for robot adaptive control servo drive in the real-time example of the present invention, it calculates the position and direction of the running robot based on the gyroscope; judge whether the position and direction deviate from the running path in the GPS map; judge the position and direction When the direction does not deviate from the running path in the GPS map, calculate the node length between the node in the next running path and the curren...
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The invention discloses a robot adaptive control servo driving method and system. The method includes the following steps that: the position and direction of an operating robot are calculated based on a gyroscope; a node distance from a node in a next operating path to a current position node is calculated; the current operating speed of the operating robot is obtained based on a speed sensor; current operating time is calculated according to the current operating speed and the node distance; preset operating time under the node distance is obtained; the relation value of the current operating time and the preset operating time is obtained through comparison; and the rotation speed of a servo motor is adjusted through the relation value, and the robot is driven to travel according to the preset operating time. According to the robot adaptive control servo driving method and system provided by the embodiments of the present invention, the position and direction of the robot are positioned through the gyroscope, so that a matching relationship between the position and direction of the robot and an operating path can be realized, and therefore, the distance of a next node can be calculated, and adaptive servo driving can be realized.
Description
technical field [0001] The invention relates to the technical field of intelligent manufacturing, in particular to a method and system for adaptively controlling servo drive of a robot. Background technique [0002] With the continuous development of robotics, more and more robots are replacing humans to perform various tasks. A robot is a common name for an automatic control machine (Robot), which includes all machines that simulate human behavior or thoughts and simulate other creatures (such as robot dogs, robot cats, etc.). There are still many classifications and controversies about the definition of robots in a narrow sense, and some computer programs are even called robots. In contemporary industry, a robot refers to a man-made machine device that can perform tasks automatically to replace or assist humans in their work. The ideal high-simulation robot is the product of advanced integrated cybernetics, mechatronics, computer and artificial intelligence, materials sc...
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IPC IPC(8): G05D1/02
CPCG05D1/0278
Inventor 曹永军周雪峰黄丹
Owner 华南智能机器人创新研究院