Multi-axis robot control system and multi-axis robot control method

Abstract

The invention relates to a multi-axis robot control system and a multi-axis robot control method. The control system comprises a main control board, wherein the main control board comprises a manipulator interface, a memorizer, a controller and a servo driver interface, wherein the manipulator interface is used for connecting a multi-axis manual and synchronous manipulator so as to transmit the control information sent by the multi-axis manual and synchronous manipulator; the memorizer is used for storing the control information sent by the multi-axis manual and synchronous manipulator and optimizing trajectory data; the controller is used for calculating the stored control information to obtain coordinate information of a transition point and a target point and optimize a moving trajectory, and used for storing well optimized trajectory data into the memorizer and sending to the servo driver to control the multi-axis robot to move on the optimized trajectory; and the servo driver interface is used for connecting a servo driver. The invention further discloses the multi-axis robot control method. The multi-axis robot control system provided by the invention has the advantages of absence of hysteresis, high accuracy and simplicity in calculation, and can realize true meaning of no programming robot use.

Description

technical field [0001] The invention relates to the field of multi-axis robot control, in particular to a multi-axis robot control system and a control method thereof. Background technique [0002] Multi-axis robots are typical manufacturing equipment in the field of industrial automation. Multi-axis robots are usually four to six-axis robots that can perform tasks such as handling, palletizing, welding, spraying, and assembly. A multi-axis robot usually includes an "arm" and a "wrist" joint. Multiple rotatable axes are arranged at the arm and wrist joints, and the rotation of each axis is controlled by a motor, thereby forming a multi-axis robot. [0003] The operation mode of the existing multi-axis robot control system mainly has the following defects: (1) The detection information obtained by the sensor needs to be preprocessed by the controller before being sent to the motor driver, which greatly produces hysteresis; (2) the existing The trajectory of the robot is obta...

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Problems solved by technology

[0003] The operation mode of the existing multi-axis robot control system mainly has the following defects: (1) The detection information obtained by the sensor needs to be preprocessed by the controller before being sent to the motor driver, which greatly produces hysteresis; (2) the existing The trajectory of the robot is obtained through various decompositions of various algorithms. For example, CN107214702A discloses a planning method and system for determining the trajectory of a robot using a virtual reality handle. This method will make the calculation complicated, and the entire stability and smoothness in the operation process need to be considered; (3) Usually, the operating trajectory required by the robot is set by writing the operating program, which is very important for the operator. High professional skills are required, the efficiency is not high, and it is difficult to popularize; (4) The technology of controlling the robot by scanning the posture changes of the human body through the camera makes the technology difficult, high in cost, low in precision, and has a large lag

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