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Robot automatic compensation motion control method

A technology of automatic compensation and motion control, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problem that the motion accuracy of the robot is not low enough, and achieve the effect of overcoming the accuracy limit, reducing the difficulty and improving the operation accuracy.

Active Publication Date: 2022-03-15
GUANGZHOU WEIMOU MEDICAL INSTR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the problem of insufficient motion accuracy of the robot in the prior art, the present invention provides a robot automatic compensation motion control method, which enables the robot to automatically perform related motions according to the set path and improve the motion accuracy

Method used

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  • Robot automatic compensation motion control method

Examples

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Embodiment 1

[0058] Such as Figure 1-2 Shown is an embodiment of a robot automatic compensation motion control method, including a robotic arm 1 and an actuator 2 mounted on the robotic arm 1, and the robotic arm 1 includes a clamping device 3 for clamping the actuator 2 and a driving clamping device 3 swinging drive arm; the drive arm includes a first joint 4 and a second joint 5 connected to the first joint 4, the first joint 4 drives the clamping device 3 to swing, and the second joint 5 drives the first joint 4 to swing; the first The joint 4 includes a first linear motor 6 and a second linear motor 7; the second joint 5 includes a third linear motor 8 and a fourth linear motor 9; the clamping device 3 is provided with a fifth linear motor 10 that drives the actuator 2 to move linearly and the sixth linear motor 11 that drives the piston movement of the actuator 2; this embodiment takes the method applied to injection as an example, and the actuator 2 is specifically a syringe, includ...

Embodiment 2

[0100] An embodiment of a control system for a manipulator, comprising a manipulator and an electronic device, the electronic device being electrically connected to the manipulator; the electronic device including a memory and a processor, the memory being used to save a computer program, the The processor is used to execute the computer program, so as to realize the robot automatic compensation motion control method in the first embodiment above.

Embodiment 3

[0102] A computer-readable storage medium for storing a computer program; wherein when the computer program is executed by a processor, the robot automatic compensation motion control method of the first embodiment is realized

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Abstract

The invention relates to an automatic compensation motion control method for a robot, which comprises the following steps of: 1, controlling all joint linear motors to carry out position calibration to finish motion initialization; secondly, the initial position of the tail end of an execution element is selected, and a mechanical arm is controlled to move to the designated initial position of the tail end; 3, setting a motion path of each joint of the robot, namely setting a displacement sequence of each linear motor; and fourthly, the mechanical arm is controlled to drive an execution element to move along the set motion path, when the execution element at the tail end of the mechanical arm rotates, the mechanical arm enters an automatic compensation motion control mode, the set displacement amount and the automatic compensation displacement amount are synthesized, and finally-executed actual linear displacement amount is obtained. And fifthly, according to the actual linear displacement obtained through calculation in the fourth step, the mechanical arm is driven to move. The invention provides a control mode which ensures the degree of freedom of motion of the mechanical arm and can accurately complete closed-loop motion in a high-precision environment with resistance, and improves the operation precision of rotary motion of the mechanical arm.

Description

technical field [0001] The present invention relates to the field of mechanical arm control, and more specifically, relates to a robot automatic compensation motion control method. Background technique [0002] Completion of surgery assisted by surgically assisted robotics is a common surgical procedure today, including retinal injections. However, in the process of the automatic execution of the robot, there are often certain motion errors. In the medical field, these motion errors can lead to incisions made by robots or reduced precision in some injection operations, causing physical damage. [0003] There is an existing error compensation-based motion control method for an industrial robot, which includes the following steps: S1: coordinate system establishment: obtain the position of the end effector on the robot when it stays after the last action of the robot, and establish a coordinate system; S2: parameter Template creation: establish the kinematics parameter model...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61F9/007B25J9/16B25J11/00
CPCA61F9/00736B25J11/00B25J9/1661B25J9/1664B25J9/1689Y02P90/02
Inventor 黄凯林浩添倪欢琦夏俊王婷
Owner GUANGZHOU WEIMOU MEDICAL INSTR CO LTD