Control method and system of intelligent joint motor

Abstract

The invention discloses a control method and system for an intelligent joint motor. The method comprises the steps that operation parameters of the joint motor are acquired; acquiring attitude data of joints based on an attitude sensor, acquiring image data around the joints based on a micro camera, and acquiring joint sensing data based on an inductive sensor; according to the operation parameters, the attitude data, the surrounding image data and the sensing data, control parameters of a joint motor are obtained through calculation; and controlling an actuating mechanism of the joint motor according to the control parameters. The intelligent joint motor provided by the embodiment of the invention has independent sensing and calculation processing capabilities, has more self-detection and accurate control coordination functions, can predict the wear problem of the motor, can realize remote management, software upgrading, hardware detection and mechanical fault supervision of the motor, and is high in practicability. And a specialized problem solution is realized from the aspects of use, control and maintenance.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a control method and system for an intelligent joint motor. Background technique [0002] The articulated robot, also known as the articulated arm robot or the articulated mechanical arm, is one of the most common forms of industrial robots in the industrial field today, and is suitable for mechanical automation operations in many industrial fields. For example, for automatic assembly, painting, handling, welding, etc., joint robots are driven by motors, and high-precision motor vector control systems are used to achieve high-precision control of robot joints. [0003] In the prior art, the ordinary joint motor controls the motor according to the instructions such as the rotational speed, angle, and position issued by the control bus. Control parameters within the state range. SUMMARY OF THE INVENTION [0004] Embodiments of the present disclosure provide a control meth...

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Problems solved by technology

[0003] In the prior art, ordinary joint motors are controlled according to instructions such as speed, angle, and position issued by the control bus. It is impossible to change the control characteristics of the motor at any time, and it is impossible to know its own spatial posture and exact position, and it cannot be adjusted to run in an ideal state. Control parameters in the state range

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