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

A technology for precise control and moving parts, which is applied in the field of computer-readable media with stored programs and motion control parts, and can solve problems such as poor precision, limited application of robots, and large motion errors of robots 100

Active Publication Date: 2018-09-04
MEGAROBO TECH CO LTD
View PDF8 Cites 6 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 re

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Robot and moving control part with precise control function, precise control method and medium
  • Robot and moving control part with precise control function, precise control method and medium
  • Robot and moving control part with precise control function, precise control method and medium

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0075] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0076] As a specific embodiment, in conjunction with the reference attached figure 1 And figure 2 , Attached figure 1 Shows the structure of the articulated robot 100, with figure 2 A block diagram of the motion control system 200 is shown.

[0077] 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), the wrist can have claws to realize functions such as grasping objects. For example, the Chinese patent application with patent application number 201710381661.7 discloses an object clamping part which can be installed as a claw On the wrist.

[0078] Each joint of the robot 100...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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. ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1664
Inventor 丁新宇
Owner MEGAROBO TECH CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap