Handling robot operation control method, device and robot

Abstract

The invention discloses an operation control method, device and robot for a transport robot, and relates to the technical field of robots. The method includes: determining the following error of the left driving wheel, the right driving wheel, and the The driving wheel follows the error, generates the left driving wheel position adjustment command and the right driving wheel position adjustment command, and sends the left driving wheel position adjustment command and the right driving wheel position adjustment command to the first servo drive system and the second servo drive system respectively, reducing Running deviation. The method, device and robot of the present invention control the operation of two independent motors simultaneously based on the following error of the left and right driving wheels, and change the independent control of the motors into coupling control, reducing the impact of the dynamic characteristics of each motor on the operation of the handling robot. Influence, improve the trajectory accuracy of the handling robot, and improve the stability of the handling robot.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method and device for controlling the operation of a transport robot and the transport robot. Background technique [0002] The tide of the information age has promoted the continuous reform of the logistics industry, and robots and automation equipment are becoming a new force in the logistics industry. There are more and more applications of unmanned warehouses, and the handling robots in unmanned warehouses will be fully used for cargo handling. There are usually two driving wheels in the chassis wheel train of the handling robot, such as figure 1 As shown, a pair of driving wheels 01 and 02 are distributed on the chassis of the handling robot. The driving wheels 01 and 02 are driven by their own motors. The two motors rotate in the same direction and at the same speed to realize the straight forward and backward of the robot. High-speed rotation can realize the in-situ ste...

AI Technical Summary

Problems solved by technology

[0003] According to the existing operation control method of the handling robot, the two driving wheels are respectively closed-loop controlled, and the parameters are adjusted according to their respective response conditions, and the servo drive system of each driving wheel is independently controlled. The two independent servo drive systems have no For matching, the different electromechanical characteristics of the two servo drive systems lead to different responses, which greatly affects the rapid and accurate movement of the robot according to the set trajectory, making it difficult for the handling robot to perform linear motion accurately according to the predetermined trajectory

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