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Robot joint pose monitoring method and device

A technology of robot joints and robots, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as robot movement deviation, and achieve the effect of avoiding losses

Pending Publication Date: 2022-06-07
山东新松工业软件研究院股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a robot joint pose monitoring method and device, aiming to solve the technical problem of real-time monitoring of the robot's motion in the process of debugging the robot in order to avoid serious deviations in the motion of the robot

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  • Robot joint pose monitoring method and device
  • Robot joint pose monitoring method and device

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Embodiment 1

[0023] Figure 1-2 The implementation process of the robot joint posture monitoring method provided by the first embodiment of the present invention is shown. For the convenience of description, only the parts related to the embodiment of the present invention are shown, and the details are as follows:

[0024] A method for monitoring robot joint pose, the method comprising the following steps:

[0025] S1. Calculate the theoretical control value of the robot joint motion data according to the design requirements;

[0026] S2. Estimate the monitoring value of the joint motion data of the robot according to the designed motion range of the robot;

[0027] S3. Obtain the actual value of the joint motion data of the robot through real-time sampling of the joint motion process by the sensor;

[0028] S4. When the difference between the actual value and the theoretical value is greater than the monitoring value, brake the robot system urgently.

[0029] Preferably, the robot joi...

Embodiment 2

[0040] image 3 The structure of the robot joint posture monitoring device provided by the third embodiment of the present invention is shown. For convenience of description, only the parts related to the embodiment of the present invention are shown.

[0041] A robot joint posture monitoring device, the device includes:

[0042] The theoretical value calculation module calculates the theoretical control value of the robot joint motion data according to the design requirements;

[0043] The monitoring value calculation module estimates the monitoring value of the joint motion data of the robot according to the designed motion range of the robot;

[0044] The actual value sampling module obtains the actual value of the joint motion data of the robot through real-time sampling of the joint motion process by the sensor;

[0045] The braking judgment module is electrically connected to the theoretical value calculation module, the monitoring value calculation module and the actu...

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Abstract

The invention is suitable for the technical field of robot motion control, and provides a robot joint pose monitoring method and device.According to the pose monitoring method, the motion state of a robot is monitored in real time in the real object debugging process of the robot; and whether the state of the robot is out of control or not is judged by comparing whether the difference value between the actual value and the theoretical value is larger than the preset monitoring value or not, if yes, the robot system is braked, and self-damage or external loss of the robot is avoided. The device disclosed by the invention also has the technical effects.

Description

technical field [0001] The invention belongs to the technical field of robot motion control, and in particular relates to a method and a device for monitoring robot joint poses. Background technique [0002] The motion control of a multi-joint robot is a very complex process, which involves many knowledges such as the establishment of the robot model, the robot forward kinematics, the robot inverse kinematics, the robot dynamics, the singular point, and the motor control. At the same time, the motion control of the robot is also affected by electrical wiring and mechanical design. During the operation of the robot, if there is a slight difference in the above-mentioned link, the control accuracy of the robot may be reduced, and the running trajectory may be deviated. It may even cause the robot's motion control to go out of control, collide with the surrounding environment and debugging personnel, and cause irreversible economic losses and personal damage. [0003] In the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J19/00
CPCB25J9/1602B25J19/0095
Inventor 宋吉来刘世昌邹风山梁亮王羽瑾栾显晔
Owner 山东新松工业软件研究院股份有限公司
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