Robot with zeroing function, zeroing method, system and medium

Abstract

The invention discloses a robot with a zeroing function. The robot comprises a motion control part for driving a motion part to move according to a motion control command, the motion part for drivingmotion bodies to move, and a position detecting sensor for detecting the positions of the motion bodies driven by the motion part in real time; when the motion control command is a zeroing command, the motion control part drives the motion part to drive the motion bodies to move in a first motion direction according to the zeroing command; when the position detecting sensor detects that the motionbodies move to a preset zero position, a first trigger signal is generated, the motion control part sensitizes the first trigger signal and drives the motion part to drive the motion bodies to move in a second motion direction opposite to the first motion direction; and when the position detecting sensor detects that the motion bodies move to the preset zero position again, a second trigger signal is generated, the motion control part sensitizes the second trigger signal and drives the motion part to drive the motion bodies to stop moving. The robot is more accurate in zeroing.

Description

technical field [0001] The invention relates to a robot with the function of returning to the zero position, a method for returning to the zero position of the robot, a motion control system with the function of returning to the zero position and a computer readable medium storing computer 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...

AI Technical Summary

Problems solved by technology

[0021] The above-mentioned method relies on the accuracy of the initial zero position of the robot 100. Once the initial zero position of the robot 100 is inaccurate, the calculated motion data of each motor of the robot 100 will deviate, causing the positioning accuracy of the robot 100 to decrease. Good at grasping objects and other actions

[0022] Because the teeth on the gears of the motor, reducer, etc. have a certain movable space, the robot 100 itself has a certain gap error when it moves from one point to another point, so the robot 100 moves from one point to another. There will be errors when the position returns to the initial zero position, making the zero position of the robot 100 inaccurate, thereby affecting the positioning accuracy of the robot 100

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