Modular industrial robot reconstruction system and control method thereof

Abstract

The invention discloses an open type reconstructive modular intelligent industrial robot reconstruction system; equipment is simple in structure, lower in cost, smaller in size, high in openness, long in service life and low in power consumption; the configuration selection and the reconstruction control can be effectively performed on a reconstructive modular robot; the terminal use portability and practicability are improved; the user upgrading cost is reduced; and the user use experience is improved. Meanwhile, the invention further provides a corresponding reconstruction system control method; the method is simple, liable to operate and high in accuracy, can preferably satisfy quick reconstruction demands in production by a flexible production line, enables the system to achieve easy expansion and customization through relative reconstruction and independence, improves the reliability and the maintainability, and is convenient to upgrade the system; and intelligent joint modules can bring convenience for distributive control of all joints.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a modularized industrial robot reconfiguration system and a control method thereof. Background technique [0002] Modular industrial robots have the characteristics of high flexibility, powerful functions, strong adaptability, stable and changeable structures, etc. It is a frontier proposition in the development of modern robot control systems. Its basic design idea is to adapt to the requirements of flexible production lines. It is reasonably divided into relatively independent reconfigurable modules, and the final structure of the robot is determined by the flexible production line. Reconfigurable modular robots have extensive adaptability and convenient reconfigurability, and have great potential in the fields of agile manufacturing systems, flexible manufacturing systems, small-batch multifunctional production lines, military, aerospace, nuclear waste disposal, and operations in ...

AI Technical Summary

Problems solved by technology

[0003] Although the reconfigurable modular design idea is widely recognized in the field of industrial robot research, there are few perfect reconfigurable modular robot applications in practical applications. Construct a robot reconfiguration control method that meets the requirements of use, and lack the corresponding robot kinematics and dynamics model establishment and solution algorithm, which makes it difficult to provide model and data support for robot trajectory planning and control system development

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