Multi-axis motion control method of industrial robot

Abstract

The invention discloses a multi-axis motion control method of an industrial robot. The industrial robot is included, wherein the industrial robot is connected with one end of a control box, the otherend of the control box is connected with one end of an external sensor, the other end of the external sensor is connected with one end of a computer, the other end of the computer is connected with one end of an image acquisition, the other end of the image acquisition is connected with a camera, and the camera is positioned on the industrial robot; the control box comprises a controller hardware,a robot language, a kinematics software, a control algorithm software, a function software and a storage module; the controller hardware, the robot language, the kinematics software, the control algorithm software, the function software and the storage module are sequentially connected; the industrial robot comprises a driver, a transmission mechanism, a mechanical arm mechanism, a mechanical armassembly, an internal sensor and an operator; and the driver, the transmission mechanism, the mechanical arm mechanism, the mechanical arm assembly, the internal sensor, and the operator are sequentially connected.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a multi-axis motion control method of an industrial robot. Background technique [0002] At present, in the research field of industrial robots, the control system of industrial robots is the most important part. At present, most robots mainly use the cooperation of precision reducer and servo motor to ensure the movement accuracy, and move according to the path taught in advance. However, because the processing and manufacturing of high-precision precision reducers requires extremely high processing equipment and technological levels, and the manufacturing cost is also difficult to control, and due to the irreversible mechanical wear of the machine, its accuracy will gradually decrease with the increase of the service life, and then Seriously affect the performance of the robot. In addition, with the continuous improvement of the level of industrial automation, the cooperati...

AI Technical Summary

Problems solved by technology

Since the target object moves together with the assembly line, its placement position and angle are not fixed, and the current method of moving the robot based on the fixed trajectory based on teaching is basically not suitable for the assembly line work method.

Images