Robot with precise zeroing function, zeroing method, system and medium

Abstract

The invention discloses a robot with a precise zeroing function. The robot comprises a motion control part, a motion part and a position detecting sensor; the motion control part prestores first preset parameters and second preset parameters; the first preset parameters and the second preset parameters enable motion directions of motion bodies to be opposite; the motion control part receives a zeroing command, and reads the first preset parameters as motion parameters; when the position detecting sensor detects the motion positions of the motion bodies to reach a preset position and to generate a first trigger signal, the motion control part sensitizes the first trigger signal, and reads the second preset parameter as new motion parameters; and when the position detecting sensor detects the motion positions of the motion bodies to reach the preset position again and to generate a second trigger signal, the motion control part sensitizes the second trigger signal, and controls the motion bodies to stop moving. The robot is more accurate in zeroing.

Description

technical field [0001] The invention relates to a robot with precise zero return function, a precise zero return method for the robot, a motion control system with precise zero return function 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 many industrial fields. [0004] Multi-joint rob...

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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