Robot with feedback control function, motion control system, method and medium

A feedback control and robot technology, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems of large motion errors, poor precision, and limited robot applications of robots 100, and achieve good compensation effects and high motion accuracy.

Active Publication Date: 2018-08-28
MEGAROBO TECH CO LTD
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  • Description
  • Claims
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Problems solved by technology

[0022] Therefore, the above-mentioned method for solving lost steps has poor accuracy, the motion error of the robot 100 is re

Method used

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  • Robot with feedback control function, motion control system, method and medium
  • Robot with feedback control function, motion control system, method and medium
  • Robot with feedback control function, motion control system, method and medium

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Embodiment Construction

[0099] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0100] As a specific example, with reference to the attached figure 1 And attached figure 2 , with figure 1 The structure of the articulated robot 100 is shown, with figure 2 A block diagram of motion control system 200 is shown.

[0101] The robot 100 is a four-joint robot. The robot 100 includes a base 1, a large arm 2, and a small arm 3. The small arm 3 can also be connected with a wrist (attached figure 1 not shown in ), there may be claws on the wrist to realize functions such as grasping objects. For example, Chinese patent application No. 201710381661.7 discloses an object clamping part, which can be installed as a claw on the wrist joint.

[0102] Each joint of the robot 100 is respectively provided with moving part...

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Abstract

The invention relates to a robot with a feedback control function. The robot with the feedback control function comprises a control part, a drive part, a motion part and an encoder. The control part comprises a first calculation part used for calculating according to motion parameters and a resolution ratio of the encoder to obtain a theoretical microstep numerical value between two lines of the encoder, and a theoretical period value corresponding to each theoretical microstep numerical value; a detection part used for receiving pulse data of the encoder in real time; a second calculating part used for calculating according to the theoretical microstep numerical value between the two lines of the encoder, the theoretical period value corresponding to each theoretical microstep numerical value, and an actual microstep numerical value between the current two lines of the encoder to obtain a time difference value between a theoretical time value and an actual time value between the current two lines of the encoder; and an adjustment part used for calculating according to the time difference value to obtain an actual period value corresponding to a theoretical microstep numerical value between last two lines of the encoder, wherein the actual period value is used as a period value after the drive part is updated. The robot provided by the invention is high in positioning accuracyand small in error.

Description

technical field [0001] The invention relates to the field of multi-joint robots, in particular to a robot with a feedback control function, a motion control system with a feedback control function, a feedback control method and a computer-readable medium stored with a program. Background technique [0002] In the field of motion control, moving parts such as motors are the core components to realize motion control. For example, the operation of a robot requires a motor to cooperate with a screw or a reducer as a motion execution part to drive the robot to move. [0003] Taking the motor with the reducer as an example, the motor with the reducer is the main movement execution part of the multi-joint robot (or called multi-joint manipulator, multi-axis robot, mechanical arm, etc.), and the multi-joint robot mainly starts from an initial The position clamps the target object to the target position, which is suitable for mechanical automation operations in many industrial fields...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1628
Inventor 丁新宇
Owner MEGAROBO TECH CO LTD
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