Multi-task cooperation and information synchronization method for mechanical arm system in high-speed continuous movement

Abstract

The invention relates to a multi-task collaboration and information synchronization method for a mechanical arm system in high-speed continuous movement. A mechanical arm hardware subsystem and a mechanical arm software subsystem are included. The mechanical arm software subsystem comprises a mechanical arm operating system, a mechanical arm application program set and a data storage center; and a sensor data reading module of the mechanical arm application program set reads the sensing data from the communication data buffer area, and if effective data is obtained, the current moment is recorded as a sensing data obtaining time global value. And the mechanical arm working data quick acquisition module quickly calculates and acquires mechanical arm working data directly associated with the actual working task of the mechanical arm. And the data synchronous matching module processes the sensing data, and synchronous matching is conducted on the sensing data and the working data of the mechanical arm. The mechanical arm application program set and the external monitoring system jointly achieve work state obtaining, external sensing, data synchronous matching and external monitoring cooperation among various types of tasks of the mechanical arm body device under the high-speed motion condition.

Description

technical field [0001] The invention relates to a multi-task coordination and information synchronization method of a mechanical arm. More specifically, the present invention relates to a method for multi-task coordination and information synchronization of a manipulator system in high-speed continuous motion. Background technique [0002] Robotic arms, especially industrial robotic arm devices, have been widely used in the manufacturing field. For tasks that do not require high precision such as handling and palletizing, the related technologies have basically matured. In recent years, people have begun to try to apply robotic arms to tasks with high precision and high speed, such as precision testing and precision assembly in the field of electronic manufacturing, and thus a series of new technical problems have arisen. [0003] The above-mentioned precision operation tasks not only require continuous and high-speed movement of the robotic arm to meet the strict task time...

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Problems solved by technology

However, the increase in data density per unit time a

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