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A robot control method and system for high-precision transmission of a mechanical arm

A robot and high-precision technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as inability to control and correct robots, and achieve the effect of improving control accuracy

Active Publication Date: 2022-05-24
CHUZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] This application solves the technical problem in the prior art that the robot cannot be accurately controlled and corrected according to the actual work information of the robot by providing a robot control method and system for high-precision transmission of the robot arm. By collecting the historical work information of the robot and Real-time motion parameters, control and correction of the robot, and then achieve the technical effect of improving the control accuracy of the robot

Method used

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  • A robot control method and system for high-precision transmission of a mechanical arm
  • A robot control method and system for high-precision transmission of a mechanical arm
  • A robot control method and system for high-precision transmission of a mechanical arm

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Embodiment 1

[0028] like figure 1 As shown, the present application provides a robot control method for high-precision transmission of a manipulator. The method is applied to a robot calibration control system, and the system is communicatively connected with an image acquisition device and a pressure sensor, and the method includes:

[0029] Step S100: obtaining first target position information and first initial position information of the first robot, and constructing a three-dimensional Cartesian coordinate system;

[0030]Specifically, the robot control and correction system is a system that generates correction data and corrects the working parameters of the robot after collecting and analyzing the parameters in the working process of the robot. The image collecting device is a machine vision product, that is, an image capturing device. Including CMOS and CCD, it can convert the captured target into image signal, and the pressure sensor is a device or device that can sense pressure s...

Embodiment 2

[0084] Based on the same inventive concept as the robot control method for high-precision transmission of a mechanical arm in the foregoing embodiment, the present invention also provides a robot control system for high-precision transmission of a mechanical arm, such as Figure 5 As shown, the system includes:

[0085] a first obtaining unit 11, the first obtaining unit 11 is used to obtain the first target position information and the first initial position information of the first robot, and construct a three-dimensional Cartesian coordinate system;

[0086] a second obtaining unit 12, the second obtaining unit 12 is configured to obtain predetermined motion control parameters of the first robot;

[0087] The third obtaining unit 13, the third obtaining unit 13 is configured to input the first target position information and the first initial position information into the configuration motion parameter adjustment model to obtain the first adjustment parameter;

[0088] a f...

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Abstract

The invention discloses a robot control method and system for high-precision transmission of a mechanical arm, which obtains first target position information and first initial position information of a first robot, constructs a three-dimensional rectangular coordinate system, and obtains predetermined motion control parameters of the first robot ; The first adjustment parameter obtained by the configuration motion parameter adjustment model is used to adjust the predetermined motion control parameters to perform motion control of the first robot, and to collect the motion trajectory of the first robot through the image acquisition device to obtain the first trajectory deviation Result: Acquisition of the fitting target pressure of the first robot is carried out through the pressure acquisition sensor, and the first position deviation result is obtained, and the motion correction of the first robot is performed based on the first trajectory deviation result and the first position deviation result. It solves the technical problem that the robot cannot be accurately controlled and corrected according to the actual working information of the robot in the prior art.

Description

technical field [0001] The invention relates to the related field of intelligent robot control, in particular to a robot control method and system for high-precision transmission of a mechanical arm. Background technique [0002] With the rapid development of the robot industry, there are many types of robots researched and developed at this stage, and they are widely used in the industrial field. The robots produced and applied at this stage generally include three or more degrees of freedom, and are mainly used to complete repetitive tasks such as welding, palletizing, spraying, and packaging. However, when it comes to some assembly tasks with high precision requirements, due to factors such as machining accuracy, assembly error, transmission error, environmental influence, and the influence of the mass distribution, load change, and vibration of the robotic arm, the control accuracy of the robot is affected. question. [0003] However, in the process of realizing the te...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/161B25J9/1661B25J9/1692
Inventor 胡涛吕小莲
Owner CHUZHOU UNIV