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Multi-turn using method of single-turn magnetic encoder at tail end of robot joint

A technology of robot joints and magnetic encoders, applied in the field of robotics, can solve the problems that single-turn magnetic encoders cannot perform multi-turn judgments, and achieve the effects of low cost, high precision, and less hardware

Inactive Publication Date: 2020-09-11
INST OF INTELLIGENT MFG TECH JITRI
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AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a multi-turn usage method of a single-turn magnetic encoder at the end of a robot joint, which solves the technical problem that the single-turn magnetic encoder cannot perform multi-turn judgment

Method used

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  • Multi-turn using method of single-turn magnetic encoder at tail end of robot joint

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Embodiment Construction

[0021] Such as figure 1 The multi-turn usage method of a single-turn magnetic encoder at the end of a robot joint includes the following steps:

[0022] Step 1: Establish a parameter reading module, a position analysis module, a calculation module and a storage module; the parameter reading module is used to read the position encoding data Q of the single-turn magnetic encoder t , where Q is the position encoding data, t is the time stamp; the position analysis module is used to analyze the position encoding data Q t ; The calculation module is used to calculate the number of turns of the current position encoding data;

[0023] In this embodiment, the parameter reading module, position analysis module and calculation module are all set in the same MCU or PLC controller.

[0024] Read the position of the single-turn magnetic encoder, judge the change between its current value and the previous time value, and set an appropriate incremental value according to the movement spee...

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Abstract

The invention discloses a multi-turn use method of a single-turn magnetic encoder at a tail end of a robot joint, and belongs to the technical field of robots. The method establishes a parameter reading module, a position analysis module, a calculation module and a storage module. The technical problem that a single-turn magnetic encoder cannot perform multi-turn judgment is solved, and the methodis less in hardware, easy to implement, low in cost and high in precision.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a method for using multi-turns of a single-turn magnetic encoder at the end of a robot joint. Background technique [0002] At present, absolute magnetic encoders are used on robot joints to control the joint position, but most magnetic encoders are single-turn (that is, they can only sense the absolute angular position within one turn). For some applications, such as when the rotation angle exceeds 360 degrees, a single turn cannot meet the requirements, and the use of a multi-turn magnetic encoder will greatly increase its cost. Contents of the invention [0003] The purpose of the present invention is to provide a multi-turn usage method of a single-turn magnetic encoder at the end of a robot joint, which solves the technical problem that the single-turn magnetic encoder cannot perform multi-turn judgment. [0004] To achieve the above object, the present inventi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01D5/249
CPCG01D5/2497
Inventor 康淼淼骆敏舟吴海波辛艳峰张华东崔玮心王永徐乃瑞
Owner INST OF INTELLIGENT MFG TECH JITRI
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