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Motion control method and system of robot

A motion control system and motion control technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of difficulty in learning and operation, difficulty in teaching and learning, and inconvenient operation, so as to achieve simple and convenient teaching, Improve teaching efficiency and facilitate teaching operation

Inactive Publication Date: 2018-05-08
陈庆
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The current teaching pendant uses buttons and text screens, which is difficult to teach and learn, inconvenient to operate, and low in teaching efficiency
The teaching pendant uses buttons and text screens to complete the planning of equipment process actions, which is difficult to learn and operate

Method used

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  • Motion control method and system of robot
  • Motion control method and system of robot
  • Motion control method and system of robot

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Embodiment Construction

[0049] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other implementations obtained by persons of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

[0050] like figure 1 As shown, the present invention provides the motion control method of robot, comprises the following steps:

[0051] S1: Input preset parameters and construct a displacement vector;

[0052] S2: Project the displacement vector onto the three coordinate axes, and calculate the pulse widths of the corresponding pulses on the three axes according to the preset parameters;

[0053] S3: Three-axis synchronously output the calculated pulse, and...

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Abstract

The invention relates to a motion control method and system of a robot. The motion control method comprises the following steps that preset parameters are input, and a displacement vector is constructed; the displacement vector is projected onto three coordinate axes, the pulse widths of pulses corresponding to the three axes are correspondingly calculated according to the preset parameters; the pulses obtained by calculating are synchronously output by the three axes, and meanwhile, the pulse width of a next pulse is calculated; and the previous step is repeated until the preset motion trackis completed. According to the motion control method, the width of the next pulse is calculated within in a pulse time and output, only errors of a machine and a motor exist, a calculating error doesnot occur, and motion and positioning accuracy of the desktop robot is greatly improved.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a robot motion control method and system. Background technique [0002] With the rapid development of computer integrated manufacturing technology, the demand for robots in industry, agriculture, aviation and other industries is increasing, and the demand for robot controllers is also growing. At present, the controllers in the motion control system of desktop robots in my country have the problems of inaccurate positioning and poor trajectory fit. The existing controller adopts an interpolation approximation algorithm, and in practical applications, the trajectory fit error and cumulative error are relatively large, resulting in large motion trajectory and stop positioning deviation. [0003] At present, the most widely used is the "teaching and reproduction" robot. Its working principle is as follows: the operator uses the "teaching controller" to issue instr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1656
Inventor 陈庆
Owner 陈庆
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