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Method and device for determining motion state of manipulator

A technology of motion state and determination method, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of inability to measure position deviation, vibration data, and inability to measure the position accuracy of manipulators, and achieve the effect of improving reliability.

Active Publication Date: 2021-11-05
ZHUHAI GREE INTELLIGENT EQUIP CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Embodiments of the present invention provide a method and device for determining the motion state of a manipulator, so as to at least solve the inability to measure the position deviation and vibration data of the manipulator during the movement process in the related art, resulting in the inability to measure the manipulator during the movement process. Technical Problems of Position Accuracy Measurement

Method used

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  • Method and device for determining motion state of manipulator
  • Method and device for determining motion state of manipulator
  • Method and device for determining motion state of manipulator

Examples

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Embodiment 1

[0034] According to an embodiment of the present invention, a method embodiment of a method for determining the motion state of a manipulator is provided. It should be noted that the steps shown in the flow charts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions , and, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.

[0035] figure 1 is a flowchart of a method for determining the motion state of a manipulator according to an embodiment of the present invention, such as figure 1 As shown, the method for determining the motion state of the manipulator includes the following steps:

[0036] Step S102, acquiring initial data of multiple measurement points of the measurement module relative to the end of the manipulator, wherein the initial data includes: position data and distance data of eac...

Embodiment 2

[0065] According to another aspect of the embodiments of the present invention, a device for determining the motion state of a manipulator is also provided, Figure 5 is a schematic diagram of a device for determining the motion state of a manipulator according to an embodiment of the present invention, such as Figure 5 As shown, the device for determining the motion state of the manipulator includes: a first acquisition unit 51 , a second acquisition unit 53 and a determination unit 55 . The device for determining the motion state of the manipulator will be described in detail below.

[0066] The first acquisition unit 51 is configured to acquire the initial data of multiple measurement points of the measurement module relative to the end of the manipulator, wherein the initial data includes: position data and distance data of each of the multiple measurement points relative to the end of the manipulator .

[0067]The second acquisition unit 53 is used to control the manip...

Embodiment 3

[0079] According to another aspect of the embodiments of the present invention, a storage medium is further provided, and the storage medium includes a stored program, wherein the program executes any one of the above-mentioned methods for determining the motion state of the manipulator.

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Abstract

The invention discloses a method and a device for determining the motion state of a manipulator. Wherein, the method includes: obtaining initial data of a plurality of measurement points of the measurement module relative to the end of the manipulator, wherein the initial data includes: position data and distance data of each measurement point in the plurality of measurement points relative to the end of the manipulator; The manipulator moves along the preset route in the pre-built motion space model, and obtains the characteristic data of the manipulator during the movement process; determines the current motion state of the manipulator according to the initial data and characteristic data. The invention solves the technical problem in the related art that the position deviation and the vibration data generated by the manipulator in the moving process cannot be measured, resulting in the inability to measure the position accuracy of the manipulator in the moving process.

Description

technical field [0001] The present invention relates to the technical field of manipulator control, in particular to a method and device for determining the motion state of a manipulator. Background technique [0002] In the prior art, the servo manipulator usually uses static measuring tools and encoders to measure the position and accuracy of the manipulator. The static measuring tool measurement method can only measure the accuracy of the manipulator at a certain point, and the encoder can only feedback the stroke, which will cause deformation of the manipulator. The positional deviation caused by vibration is unknown. [0003] Aiming at the problem that the method for measuring the position deviation of the manipulator in the above-mentioned related art is relatively limited, resulting in low reliability of the measurement result, no effective solution has been proposed yet. Contents of the invention [0004] Embodiments of the present invention provide a method and d...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J13/00B25J13/08
CPCB25J9/1602B25J9/1664B25J13/00B25J13/08
Inventor 周家裕郭东生王佳威张睿林宇萌李鹏程邓祖东万文洁衷镇宇
Owner ZHUHAI GREE INTELLIGENT EQUIP CO LTD