Robot and moving control part with precise control function, precise control method and medium

Abstract

The invention discloses a robot with the precise control function. The robot comprises a control part, a driving part, a moving part and an encoder; the control part comprises a resolving unit, a wavetable and a calculation adjusting unit; the resolving unit is used for resolving according to the motion parameters and the resolution of the encoder to obtain a set of wave table data and a theoretical micro-step value between two lines of the encoder, and the wave table data represents the theoretical time value between every two lines of the encoder; the wave table is used for storing the wavetable data; the calculation adjusting unit is used for calculating according to the wave table data between the current two lines of the encoder which is taken out from the wave table, the theoretical micro-step numerical value between the two lines of the encoder and the actual motion time between the current two lines which is detected by the encoder to obtain an actual period value corresponding to each micro step between the last two lines of the encoder, and the actual period value is used as an updated period value of the driving part. The robot does not need to be stopped, and then perform calculation and adjustment, so that the purpose of accurate control can be achieved, and the error is extremely small.

Description

technical field [0001] The invention relates to the field of multi-joint robots, in particular to a robot with precise control function, a precise control method, a motion control component with precise control function and a computer-readable medium stored with programs. 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. ...

AI Technical Summary

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 relatively large, and the robot 100 needs to stop moving during adjustment, which seriously limits the application of the robot.

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