Multi-axis mechanical arm control parameter group self-tuning method

Abstract

The invention provides a multi-axis mechanical arm control parameter group self-tuning method. The multi-axis mechanical arm control parameter group self-tuning method comprises the following steps that a robot upper controller sends an adjusting instruction to drivers on a multi-axis mechanical arm through an industrial communication bus; micro-vibration type parameter adjustment is carried out according to the received adjusting instruction; the drivers send adjusting process parameters to the robot upper controller; whether adjustment is completed is judged according to summarized parameters, and a verification operation instruction is sent; performance verification is carried out according to the received operation instruction; operation parameters of each axis are sent; and whether the performance of the drivers reaches the standard or not is judged. The method has the beneficial effects that the problem of parameter self-adjustment of a joint servo system of the multi-axis mechanical arm is solved, rotation of a servo motor is not needed, parameter adjustment of axes one by one is not needed, simultaneous parameter self-adjustment of a multi-axis motor system is carried out, so that the parameter adjustment process is simple, rapid, safe and reliable, the debugging time is saved, and the debugging efficiency is improved.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a multi-axis mechanical arm control parameter group self-tuning method. Background technique [0002] At present, in the field of industrial robots or service robots, there are generally 6 or 8 joints, so as to realize multi-degree-of-freedom movements. Each joint needs to be equipped with a set of servo drive system to realize functions such as command reception and servo motor control. A set of servo drive system consists of a servo motor and a servo driver. [0003] Each servo system needs to be debugged on the control parameters after the installation is completed in order to achieve the best performance. [0004] The traditional control parameter adjustment method is generally completed based on the scene on the automated production line. For example, when performing servo control parameter self-tuning, when the motor and the load are coupled together, the motor completes ...

AI Technical Summary

Problems solved by technology

Because the manipulator has multiple servo systems and the inherent mechanical system characteristics of the manipulator and the safety considerations of the environment where it is located, it is impossible to identify the system parameters of each servo system through repeated acceleration and deceleration, and repeated positive and negative rotations; in addition, the manipulator system It is a highly coupled and highly dynamic system load, and the servo systems affect each other, making the servo parameter adjustment process more complicated, which brings difficulty to parameter adjustment

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