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A control method for an open programming-free robot

A control method and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve problems such as inability to meet motion requirements, and achieve the effect of improving stability and rapidity, reducing operation difficulty, and saving labor and time.

Active Publication Date: 2020-09-18
HEFEI UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At the same time, the control of traditional industrial robots mainly uses a combination of straight line and arc algorithms, which cannot meet some complex motion requirements.

Method used

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  • A control method for an open programming-free robot
  • A control method for an open programming-free robot
  • A control method for an open programming-free robot

Examples

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Embodiment Construction

[0037] In this example, refer to figure 1 , an open programming-free robot control method is applied in an operating environment composed of a computer, a motion controller, and a robot, and its architecture includes a dual-core processor 1 based on the ARM-Cortex A9 architecture, a servo drive 2, and a servo motor 3 and PC 4. Among them, ARM-Cortex A9 1 serves as the master station of the entire control system and communicates with the servo driver 2 through ETherCAT. The servo drive 2 supplies power to the servo motor 3 and receives feedback signals from the encoder of the servo motor 3 . PC 4 and ARM-Cortex A9 1 realize data exchange through Ethernet.

[0038] The main frequency of ARM-Cortex A9 1 core is as high as 1GHZ. It is the control unit of the motion control system, responsible for receiving and sending data instructions from the host computer to perform complex kinematic calculations;

[0039] Servo driver 2 is responsible for receiving instructions from the mot...

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PUM

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Abstract

The invention discloses a control method of an open non-programming robot. The control method is characterized in that the method is applied to an operating environment composed of a computer, a motion controller and a robot, and comprises the following steps: step 1, establishing and drawing a robot motion track curve; step 2, setting a position point threshold alpha, and roughing the motion track; step 3, constructing a linked list, and storing the information of each position point; step 4, finishing the motion track to achieve speed look-ahead; step 5, sending data to the robot for execution; and step 6, continuously modifying the threshold alpha to enable the error between the robot motion track curve drawn in step 1 and the motion track curve executed by the robot in step 5 to meet the accuracy requirement. The method can reduce the operation difficulty of the robot, and optimize the execution speed and the track error of the robot, thereby improving the stability and rapidity ofthe control.

Description

technical field [0001] The invention belongs to the field of motion control of industrial robots, in particular to a control method of an open programming-free robot. Background technique [0002] Industrial robots are an important part of improving productivity and manufacturing level. The closed nature of traditional motion control systems cannot meet the needs of more and more modern factories, while open motion control systems combine PLC with motion control. Realize flexible control and improve production efficiency. [0003] The motion mode of traditional industrial robots is programmed on the teach pendant, and the robot executes the corresponding instructions. The programming methods of robots from different manufacturers are different, which leads to the fact that robot users need to be familiar with this type of robot when using new types of robots. Robot programming environment and programming language. At the same time, the control of traditional industrial rob...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 李鑫张晓庆邱亚王舒润汪波
Owner HEFEI UNIV OF TECH
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