Industrial robot control method based on big data clustering

A technology of industrial robots and control methods, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., and can solve problems such as insufficient control precision of robots, large deviations in running trajectories, independent research and development capabilities and application levels of industrial robots that have not reached expected standards, etc. , to achieve high economic value, small running track deviation, and high real-time performance

Pending Publication Date: 2022-01-11
ZHUHAI GREE INTELLIGENT EQUIP CO LTD +1
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0003] In the current industrial production field, the use of robots has formed a certain number and scale, but the independent research and development capabilities and application level of industrial robots have not yet reached the expected standards, the control accuracy of robots is not high enough, and the deviation of the running track is large. Therefore, this The invention proposes an industrial robot control method based on big data clustering to solve the problems existing in the prior art

Method used

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  • Industrial robot control method based on big data clustering
  • Industrial robot control method based on big data clustering
  • Industrial robot control method based on big data clustering

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Embodiment 1

[0044] according to figure 1 As shown, this embodiment proposes an industrial robot control method based on big data clustering, including the following steps:

[0045] Step 1: Control Connection

[0046]Use the industrial control computer as the upper computer structure of the system, select the GMM06EEA01 robot six-axis motion controller to connect the industrial control computer with the servo motor and the driver, use the servo motor to cooperate with the transmission structure to control the robot body, and the GMM06EEA01 robot six-axis motion controller through Ethernet Connect with the industrial control computer, the GMM06EEA01 robot six-axis motion controller communicates with the servo at high speed through EtherCAT to realize the precise pose control of the robot. communication to realize the teaching and monitoring of the robot; the control of the robot is completed in the form of a two-level computing structure, and the industrial control computer is used as the ...

Embodiment 2

[0064] This embodiment proposes an industrial robot control method based on big data clustering. The overall trajectory planning is performed on the industrial control computer, and the outline method is used to coordinate and control the motion of each axis point of the industrial robot on the GMM06EEA01 robot six-axis motion controller. The specific planning process is:

[0065] S1: Use the interpolation trajectory algorithm to construct the trajectory mathematical equation, and calculate the specific position coordinates of the next interpolation point;

[0066] S2: Use kinematics reverse solution to obtain the rotation angle of each joint on the coordinates of the interpolation point, and obtain the position of the joint interpolation point of the industrial robot and the angular deviation from the previous interpolation point;

[0067] S3: Calculate the incremental value of each joint of the industrial robot, and write the incremental value into a file in dms format;

[...

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Abstract

The invention provides an industrial robot control method based on big data clustering, and relates to the technical field of robot control. The method comprises the following steps of control connection, data set establishment, signal fitting, running track planning, control system integration, teaching interface design and reproduction module design. According to the method, the uniform traversal characteristic of the big data clustering on mass data is utilized for debugging an initial value and noise, the clustering performance of the data is effectively improved, the advantages of being small in calculation amount and high in real-time performance are achieved, and the control capacity on an industrial robot is improved; a teaching reproduction mode is adopted for achieving running control of a control system on the robot, an industrial robot production operation file is generated in the process, the operation file is a control statement with a robot control programming language and control data as the core, straight line, arc line and track planning is involved, and therefore teaching reproduction and track planning are combined, the control system is integrated, and the system performance is improved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an industrial robot control method based on big data clustering. Background technique [0002] At present, the emergence of industrial robots has promoted the development of modernization in the industrial field, and has gradually become an irreplaceable important equipment in industrial control. The continuous expansion of social needs has led to rapid development of productivity, and the demand for labor is also gradually increasing. Among them The weight of repetitive labor is particularly prominent, and the emergence of robots perfectly solves this problem; [0003] In the current industrial production field, the use of robots has formed a certain number and scale, but the independent research and development capabilities and application level of industrial robots have not yet reached the expected standards, the control accuracy of robots is not high enough, and the dev...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1628
Inventor 程宁马徐武沈显东
Owner ZHUHAI GREE INTELLIGENT EQUIP CO LTD
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