Robot device and motion control method thereof

Abstract

The invention discloses a robot device and a motion control method thereof. The robot device comprises a joint type mechanical arm, a rotating shaft allowing a joint of the mechanical arm to rotate and a main engine for driving the rotating shaft. The control method for controlling the rotating shaft by the main engine comprises the steps of firstly, acquiring the current position of the rotating shaft and the target position of the rotating shaft, then performing point-to-point motion, and calculating the position of the rotating shaft. According to the robot device and the motion control method thereof, the position of the rotating shaft can be calculated at the same time when the point-to-point motion is performed so that when the motion track of the mechanical arm is likely to exceed the working range, the main engine can correct the motion of the rotating shaft in real time, and therefore the motion track of the mechanical arm can be effectively prevented from exceeding the working range.

Description

technical field [0001] The invention relates to a control system, in particular to a robot device and a motion control method thereof. Background technique [0002] In the modern production line, due to the advantages of high efficiency, low cost, and stable quality of objects, robotic devices have been widely used to replace human production. [0003] like figure 1 As shown, the robot device 1 in the prior art is a six-axis articulated robot arm, which uses six rotation axes 11, 12, 13, 14, 15, and 16 for the joints of each robot arm 10, 100 to rotate relative to each other. To control the position and state of each robot arm 10, 100, and the common motion control methods of the robot device 1 are point-to-point (generally referred to as PTP) movement and linear compensation (generally referred to as LINE) movement. [0004] The point-to-point movement utilizes the six-axis angle between the current position and the target position to perform interpolation (Interpolation)...

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Problems solved by technology

[0008] Furthermore, in order to ensure work safety, some users also choose to control the mechanical arms 10, 100 by linear compensation movement, but the robot device 1 will thus increase the working time.

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