Control method and control device for Cartesian coordinate robot

A technology of rectangular coordinates and control methods, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as position errors, and achieve the effects of improving position accuracy, smooth operation, and improving operating efficiency

Active Publication Date: 2017-12-08
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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  • Abstract
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Problems solved by technology

[0004] However, the Cartesian coordinate robot in the prior art of

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  • Control method and control device for Cartesian coordinate robot
  • Control method and control device for Cartesian coordinate robot
  • Control method and control device for Cartesian coordinate robot

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Embodiment Construction

[0027] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. In addition, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.

[0028] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The application will be described in detail below with reference to the accompanying drawings and embodiments.

[0029] figure 1 An exemplary system architecture 100 that can be applied to the control method or control device of the Cartesian robot of the present application is shown.

[0030] like figure 1 As shown, the system architecture 100 may include a Cartesian robot 101, a network...

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Abstract

The embodiment of the invention discloses a control method and a control device for a Cartesian coordinate robot. One specific implementation mode of the method comprises the following steps: obtaining initial position information and target position information of the robot in response to a received operating control instruction; determining initial reference position information and target reference position information of the robot in an established reference coordinate system; and executing the following control steps: obtaining current actual position information and current theoretical position information of the robot to determine the current reference position information of the robot, and determine whether the current reference position information is the target reference position information in the first coordinate axis direction; and in response to determination that the current reference position information is not the target reference position information, by taking the current reference position information as the initial reference position information, continuously executing a control step. The implementation mode can implement that during operation of the robot, an error produced in the first coordinate axis direction can be dynamically compensated, so that the operation efficiency is improved.

Description

technical field [0001] The present application relates to the field of computer technology, in particular to the field of robot control technology, in particular to a control method and a control device for a Cartesian robot. Background technique [0002] Cartesian coordinate robot, as an automatic robot with low cost and simple system structure, can be used in common industrial production fields such as dispensing, spraying, palletizing, sorting, packaging, welding, handling, loading and unloading, assembly, and printing. This can replace labor, improve production efficiency, and help stabilize product quality. [0003] A Cartesian robot usually consists of five parts: a horizontal-axis main arm, a vertical-axis main arm, a third-dimensional axis main arm, a rotating arm, and a gripper. The main arm of the horizontal axis, the main arm of the vertical axis and the main arm of the third dimension axis can respectively drive the mechanical claws to move linearly along the ho...

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Application Information

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IPC IPC(8): B25J9/16B25J9/02
CPCB25J9/023B25J9/1602
Inventor 王祥龙
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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