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Method for calibrating motion control command of robot and related equipment

A motion control and robot technology, applied in the field of numerical control, can solve the problems of easy error in tool measurement and reduced efficiency of tools

Active Publication Date: 2022-02-15
SHENZHEN A&E INTELLIGENT TECH INST CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Generally, users rarely have special calibration tools. If any other tool is used, the measurement of the tool is prone to error, and the repeated disassembly and assembly of the tool reduces the efficiency.

Method used

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  • Method for calibrating motion control command of robot and related equipment
  • Method for calibrating motion control command of robot and related equipment
  • Method for calibrating motion control command of robot and related equipment

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Embodiment Construction

[0019] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0020] see figure 1 , figure 1 It is a flow chart of the method for correcting the motion control command of the robot according to the first embodiment of the present invention. In this embodiment, the method for correcting the motion control command of the robot may include the following steps:

[0021] Step S11: Obtain first position data of three preset points on the workpiece.

[0022] In this embodiment, the preset three points may be any three points that are preset on the workpiece and are not collinear. The first position data may be the position data of the three points after the position of the workpiece is changed. Obtaining the first position data of the three preset points on the workpiece can be obtained by obtaining the teaching data input by the user to control the robot to make the tool touch the three points after the workpiece ...

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Abstract

The invention discloses a method for correcting a motion control command of a robot, which includes: acquiring first position data of three preset points on a workpiece (S11); acquiring pre-stored second position data of the three points ( S12); determine a first position conversion parameter according to the first position data and the second position data (S13); correct the motion control command of the robot according to the first position conversion parameter, and obtain the corrected A motion control command of the robot (S14). This method can realize precise motion control of the robot even after the workpiece changes position without pre-calibrating the workpiece coordinate system.

Description

technical field [0001] The invention relates to the technical field of numerical control, in particular to a method for correcting motion control commands of a robot and related equipment. Background technique [0002] When the teaching method is used in the motion control of the robot, but the workpiece and tool coordinate system have not been established, the robot has shifted relative to the workpiece (the position of the robot or the workpiece has changed), and the original motion control command is still used; or the same motion The control commands need to be used by multiple robots, and when the teaching programming used by the original motion control commands does not establish a workpiece coordinate system, if the robot still uses the original motion control commands to control the movement of the robot, there will be inaccurate motion control problems. [0003] Robots usually use the teaching method for handling, processing and other operations. Generally, users se...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16
Inventor 刘子雨叶根张志明
Owner SHENZHEN A&E INTELLIGENT TECH INST CO LTD
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