Cartesian coordinate robot control method and control device

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

Active Publication Date: 2019-11-29
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the Cartesian coordinate robot in the prior art often causes position errors due to wheel slippage during operation.

Method used

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

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Embodiment Construction

[0027] The application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described here are only used to explain the related invention, but not to limit the invention. In addition, it should be noted that, for ease of description, only the parts related to the invention are shown in the drawings.

[0028] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other if there is no conflict. The application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

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

[0030] Such as figure 1 As shown, the system architecture 100 may include a rectangular coordinate robot 101, a network 102, and a server 103 that p...

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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] This application relates to the field of computer technology, in particular to the field of robot control technology, and in particular to the control method and control device of a Cartesian coordinate robot. Background technique [0002] As a low-cost, simple system structure, the Cartesian coordinate robot 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] Cartesian coordinate robot usually includes five parts: horizontal axis main arm, vertical axis main arm, third axis main arm, rotating arm and mechanical claw. The horizontal axis main arm, the vertical axis main arm and the third three-dimensional axis main arm can respectively drive the mechanical claw to move linearly along the horizontal axis, the vertical axis and the thir...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J9/02
CPCB25J9/023B25J9/1602
Inventor 王祥龙
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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