High-precision motion control device for joint robot

Abstract

The invention relates to the technical field of robot control, and discloses a joint robot high-precision motion control device which comprises a base, and a control mainboard is installed at the top of the base and used for robot motion control; the driving module is mounted at the top of the base and is used for controlling the movement of the robot according to a signal of the control mainboard; the movement module is mounted at the top of the driving module and is used for completing various movement processes of the robot; a control module; according to the method, aiming at nonlinear factors such as joint friction and elastic deformation which are difficult to accurately model, a control algorithm does not depend on a fixed and accurate dynamic model, and the method can dynamically compensate a nonlinear effect through real-time data on-line identification or self-adaptive adjustment of control parameters, so that the robot can be accurately controlled when facing parameter change. High-precision trajectory tracking can still be kept, and overshoot and steady-state errors are reduced.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, specifically to a high-precision motion control device for articulated robots. Background Technology

[0002] Current motion control devices for articulated robots typically include servo drivers, motors (such as frameless direct drive motors or permanent magnet synchronous motors), reducers (such as harmonic reducers), various types of sensors (such as encoders, torque sensors, and accelerometers), and centralized or distributed control units. Typical integrated joint modules adopt an integrated design of "driver-motor-reducer-encoder" to reduce size, optimize wiring, and improve response speed.

[0003] A search revealed Chinese patent CN111216119A, which discloses a method, device, and terminal equipment for controlling robot joint motion. The method includes: acquiring the coordinate values ​​of multiple key points of robot joint motion; determining the coordinate values ​​of two smooth connection points before and after each key point according to a preset time connection factor; calculating the joint motion trajectory between each pair of smooth connection points and the corresponding key points according to a preset parabolic connection formula; and controlling the robot's joint motion based on the joint motion trajectory between each pair of smooth connection points. This method can avoid overshooting, stiffness, and mechanical movement of the robot's joints during motion.

[0004] The above-mentioned technical solutions rely on a single, limited type of sensor and lack a mechanism for fusing and processing multi-source heterogeneous data. When the sensor fails or is subjected to external interference, the system has poor fault tolerance and its control performance deteriorates significantly. In practical applications, control algorithms are generally based on accurate joint dynamics models, but nonlinear factors in actual systems, such as friction and elastic deformation, are difficult to model accurately, leading to parameter mismatch and increased tracking errors. Especially during sudden load changes or high-speed motion, traditional PID and MPC methods struggle to achieve overshoot-free, high-precision control. Based on this, the present invention designs a high-precision motion control device for articulated robots to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a high-precision motion control device for articulated robots, which solves the problems of low fault tolerance and low precision in the prior art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: A high-precision motion control device for an articulated robot, comprising: A base, on top of which is mounted a control motherboard for the robot's motion control; A drive module, which is mounted on top of the base and is used to control the movement of the robot according to signals from the control motherboard; A motion module is mounted on top of the drive module and is used to complete various motion processes of the robot. A control module is installed on one side of the motion module and is used to control the progress of the motion module according to the actual situation. The control module includes a key end absolute encoder and an inertial measurement unit. The key end absolute encoder is installed at the hinge joint of the motion module and is used to measure the rotation angle of the final output axis of the robot joint body. The inertial measurement unit is installed at the end of the unit of the motion module and is used to detect non-rigid vibration at the joint end.

[0007] Preferably, the critical end absolute encoder includes a code disk mounted at the hinge joint of the motion module, a reading head mounted on the top of the code disk, and a protective shell mounted on the top of the code disk for protecting the code disk and reading the data.

[0008] Preferably, the inertial measurement unit includes a measuring cylinder installed at the end of the motion module unit, a gyroscope is installed in the inner cavity of the measuring cylinder, and an accelerometer is installed on one side of the gyroscope.

[0009] As shown in the above technical solution, the critical end absolute encoder is installed at the hinge joint of the motion module to measure the rotation angle of the final output axis of the robot joint body in real time. The absolute encoder outputs digital signals through a code disk and a reading head, and its angle calculation formula is as follows: ; Where θ represents the joint angle, C is the digital value output by the encoder, and N is the number of bits of the encoder's resolution. This formula ensures high accuracy in angle measurement and absolute position feedback, avoiding cumulative errors.

[0010] An inertial measurement unit (IMU) is installed at the end of the motion module to detect non-rigid vibrations at the joint ends. Inside the IMU, a gyroscope measures angular velocity ω, and an accelerometer measures linear acceleration a. The vibration data is processed by a sensor fusion algorithm, and the vibration amplitude is evaluated by calculating the magnitude of the acceleration. ; A represents the amplitude of vibration, a x a y and a z These are the three-axis acceleration values. After receiving this data, the main processor executes a real-time vibration suppression algorithm, uses a high-pass filter to extract high-frequency vibration components, and adjusts the drive signal to reduce the impact of vibration and ensure smooth motion.

[0011] Preferably, the drive module includes a drive frame mounted on the top of the base, a drive motor mounted on the top of the inner cavity of the drive frame, a drive shaft fixedly connected to the bottom of the output shaft of the drive motor, a drive gear fixedly connected to the bottom of the drive shaft, a driven shaft rotatably connected to the top of the drive frame, the driven shaft passing through the drive frame and extending into the inner cavity of the drive frame, a driven gear mounted on the outer ring of the driven shaft, the driven gear meshing with the drive gear for adjusting the direction of the driven shaft and its top structure.

[0012] Preferably, the motion module includes a base frame mounted on the top of the driven shaft, a stepper motor mounted on the front of the base frame, a main shaft fixedly connected to the output end of the stepper motor, a joint main arm fitted around the outer ring of the main shaft, a limit seat installed in the inner cavity of the base frame for limiting the rotation of the main shaft, a joint support arm hinged to the top of the joint main arm, and a limit assembly installed between the joint main arm and the joint support arm for the normal operation of the joint support arm.

[0013] Preferably, the limiting component includes a connecting rod fitted on the outer ring of the main shaft, a limiting rod hinged to the top of the connecting rod, and the limiting rod and the articulated support arm are rotatably connected by a pin.

[0014] Preferably, the limiting assembly further includes a steering rod hinged to the top of the bottom frame, with a limiting block hinged to the top of the steering rod. The limiting block is rotatably connected to both the main joint arm and the outrigger arm via pins. A linkage arm is also hinged to the top of the limiting block for normal operation of the outrigger arm. The critical end absolute encoder is installed at the hinge points of the main joint arm and the outrigger arm, the steering rod and the limiting block, and the limiting block and the linkage arm.

[0015] Preferably, the motion module further includes a clamping frame installed at the end of the joint arm. A clamping motor is installed in the inner cavity of the clamping frame. A bidirectional lead screw is fixedly connected to the output shaft of the clamping motor. A moving block is threaded to the outer ring of the bidirectional lead screw. A clamping plate is fixedly connected to the bottom of the moving block. The inertial measurement unit is installed on the front of the joint arm and the clamping plate to detect the non-rigid vibration of the joint arm and the clamping plate.

[0016] Preferably, a linkage frame is hinged to the top of the linkage arm, and a linkage rod is fixedly connected in the inner cavity of the linkage frame to improve the measurement accuracy of the inertial measurement unit.

[0017] Preferably, the motherboard includes a main processor, a dedicated protocol interface is installed on one side of the main processor for connecting to the critical end absolute encoder, and a high-flow-rate data interface is also installed on one side of the main processor for connecting to the inertial measurement unit and specifically for processing high-frequency inertial data and executing vibration suppression algorithms.

[0018] Compared with the prior art, the beneficial effects achieved by the present invention are: 1. This invention addresses nonlinear factors such as joint friction and elastic deformation, which are difficult to model precisely. The control algorithm does not rely on a fixed and precise dynamic model. It can identify or adaptively adjust control parameters online through real-time data to dynamically compensate for nonlinear effects. This enables the robot to maintain high-precision trajectory tracking and reduce overshoot and steady-state errors when facing parameter changes.

[0019] 2. In this invention, the inertial measurement unit at the end of the joint can sensitively detect non-rigid vibrations caused by structural flexibility or external impacts. The dedicated high-speed data interface and processor on the control motherboard can quickly process these high-frequency inertial data and execute real-time vibration suppression algorithms. This effectively suppresses mechanical vibrations, especially under conditions that are prone to vibration, such as high-speed motion or sudden load changes, directly improving the positioning accuracy and motion stability of the end effector.

[0020] 3. The gear transmission design of the drive module, the limiting components of the motion module, and the encoder installation method of key parts in this invention together constitute a compact mechanical system. This not only reduces space occupation but also reduces errors caused by structural loosening or deformation, providing a solid mechanical foundation for high-precision control. At the same time, the modular design facilitates maintenance and expansion of specific functions. Attached Figure Description

[0021] Figure 1 This is a front-view stereoscopic structural diagram of the present invention; Figure 2 This is a side view of the present invention; Figure 3 This is a schematic diagram of the control motherboard and its driver module of the present invention; Figure 4 This is a side view of the control motherboard and its driver module of the present invention; Figure 5 This is a schematic diagram of the motion module of the present invention; Figure 6 For the present invention Figure 5 Enlarged view of point A; Figure 7 This is a side view of the structure of the motion module of the present invention; Figure 8 This is a schematic diagram of the key end absolute encoder structure of the present invention; Figure 9 This is a schematic diagram of the internal structure of the key end absolute encoder of the present invention; Figure 10 This is a schematic diagram of the structure of the inertial measurement unit of the present invention.

[0022] The components include: 2. Drive module; 3. Motion module; 4. Control module; 5. Limiting component; 41. Key end absolute encoder; 42. Inertial measurement unit; 101. Base; 102. Control motherboard; 103. Main processor; 104. Dedicated protocol interface; 105. High-speed data interface; 201. Drive frame; 202. Drive motor; 203. Drive shaft; 204. Drive gear; 205. Driven shaft; 206. Driven gear; 301. Base frame; 302. Stepper motor; 303. Main... Shaft; 304, main articulated arm; 305, limit seat; 306, articulated support arm; 307, clamping frame; 308, clamping motor; 309, bidirectional lead screw; 310, moving block; 311, clamping plate; 411, encoder; 412, reading head; 413, protective shell; 421, measuring cylinder; 422, gyroscope; 423, accelerometer; 501, connecting rod; 502, limit rod; 503, steering rod; 504, limit block; 505, linkage arm; 506, linkage frame; 507, linkage rod. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Example 1; Please see Figures 1-10 In this embodiment of the invention, a high-precision motion control device for an articulated robot includes: a base 101, on the top of which a control motherboard 102 is mounted for motion control of the robot; a drive module 2, mounted on the top of the base 101 and used to control the robot's motion according to signals from the control motherboard 102; a motion module 3, mounted on the top of the drive module 2 and used to complete various motion processes of the robot; and a control module 4, mounted on one side of the motion module 3 and used to control the progress of the motion module 3 according to actual conditions. The control module 4 includes a critical end absolute encoder 41 and an inertial measurement unit 42. The critical end absolute encoder 41 is mounted at the hinge joint of the motion module 3 and is used to measure the rotation angle of the final output axis of the robot joint body. The inertial measurement unit 42 is mounted at the end of the unit of the motion module 3 and is used to detect non-rigid vibrations at the joint end.

[0025] The critical end absolute encoder 41 includes a code disk 411 mounted at the hinge joint of the motion module 3. A reading head 412 is mounted on the top of the code disk 411, and a protective shell 413 is also mounted on the top of the code disk 411 to protect the code disk 411 and for reading. The inertial measurement unit 42 includes a measuring cylinder 421 mounted at the end of the motion module 3 unit. A gyroscope 422 is installed in the inner cavity of the measuring cylinder 421, and an accelerometer 423 is mounted on one side of the gyroscope 422.

[0026] The working principle of this invention embodiment is as follows: The operation of the high-precision motion control device for the articulated robot begins with the control motherboard 102 issuing a motion command. After receiving the command, the drive module 2 starts the drive motor 202. The drive motor 202 drives the drive gear 204 to rotate via the drive shaft 203, thereby engaging the driven gear 206 and causing the driven shaft 205 to rotate, achieving basic direction adjustment. The motion module 3 then executes specific actions. The main articulated arm 304 and the articulated support arm 306 rotate and swing at the hinge, completing various motion processes of the robot.

[0027] A critical-end absolute encoder 41 is mounted at the hinge joint of the motion module 3 to measure the rotation angle of the final output axis of the robot joint body in real time. The absolute encoder outputs digital signals through the code disk 411 and the reading head 412, and its angle calculation formula is as follows: ; Where θ represents the joint angle, C is the digital value output by the encoder, and N is the encoder's resolution in bits. This formula ensures high accuracy in angle measurement and absolute position feedback, avoiding cumulative errors.

[0028] Simultaneously, an inertial measurement unit 42 is installed at the end of the motion module 3 unit to detect non-rigid vibrations at the joint ends. The gyroscope 422 inside the inertial measurement unit 42 measures the angular velocity ω, and the accelerometer 423 measures the linear acceleration a. The vibration data is processed by a sensor fusion algorithm, and the vibration amplitude is evaluated by calculating the magnitude of the acceleration. ; A represents the amplitude of vibration, a x a y and a z These are the three-axis acceleration values. After receiving this data, the main processor 103 executes a real-time vibration suppression algorithm, uses a high-pass filter to extract high-frequency vibration components, and adjusts the drive signal to reduce the impact of vibration and ensure smooth motion.

[0029] Example 2; Please see Figures 1-10In this embodiment of the invention, the drive module 2 includes a drive frame 201 mounted on the top of the base 101. A drive motor 202 is mounted on the top of the inner cavity of the drive frame 201. A drive shaft 203 is fixedly connected to the bottom of the output shaft of the drive motor 202. A drive gear 204 is fixedly connected to the bottom of the drive shaft 203. A driven shaft 205 is rotatably connected to the top of the drive frame 201. The driven shaft 205 passes through the drive frame 201 and extends into the inner cavity of the drive frame 201. A driven gear 206 is mounted on the outer ring of the driven shaft 205. The driven gear 206 meshes with the drive gear 204 and is used for directional adjustment of the driven shaft 205 and its top structure. The motion module 3 includes a base frame 301 mounted on top of the driven shaft 205. A stepper motor 302 is mounted on the front of the base frame 301. The output end of the stepper motor 302 is fixedly connected to the main shaft 303. A joint main arm 304 is fitted around the outer ring of the main shaft 303. A limit seat 305 is also installed in the inner cavity of the base frame 301 for limiting the rotation of the main shaft 303. A joint support arm 306 is also hinged to the top of the joint main arm 304. A limit component 5 is also installed between the joint main arm 304 and the joint support arm 306 for the normal operation of the joint support arm 306.

[0030] The limiting component 5 includes a connecting rod 501 fitted on the outer ring of the main shaft 303. A limiting rod 502 is hinged to the top of the connecting rod 501. The limiting rod 502 is rotatably connected to the articulated arm 306 via a pin.

[0031] The limiting assembly 5 also includes a steering rod 503 hinged to the top of the bottom frame 301. A limiting block 504 is hinged to the top of the steering rod 503. The limiting block 504 is rotatably connected to the main joint arm 304 and the joint support arm 306 via pins. A linkage arm 505 is also hinged to the top of the limiting block 504 for normal operation of the joint support arm 306. The critical end absolute encoder 41 is installed at the hinge between the main joint arm 304 and the joint support arm 306, the hinge between the steering rod 503 and the limiting block 504, and the hinge between the limiting block 504 and the linkage arm 505. The motion module 3 also includes a clamping frame 307 installed at the end of the joint arm 306. A clamping motor 308 is installed in the inner cavity of the clamping frame 307. A bidirectional lead screw 309 is fixedly connected to the output shaft of the clamping motor 308. A moving block 310 is threadedly connected to the outer ring of the bidirectional lead screw 309. A clamping plate 311 is fixedly connected to the bottom of the moving block 310. An inertial measurement unit 42 is installed on the front of the joint arm 306 and the clamping plate 311 to detect the non-rigid vibration of the joint arm 306 and the clamping plate 311.

[0032] A linkage frame 506 is hinged to the top of the linkage arm 505, and a linkage rod 507 is fixedly connected inside the cavity of the linkage frame 506 to improve the measurement accuracy of the inertial measurement unit 42. The main board includes a main processor 103. A dedicated protocol interface 104 is installed on one side of the main processor 103 for connecting to the critical end absolute encoder 41. A high-speed data interface 105 is also installed on one side of the main processor 103 for connecting to the inertial measurement unit 42 and is specifically used to process high-frequency inertial data and execute vibration suppression algorithms.

[0033] The working principle of this embodiment of the invention is as follows: After the control motherboard 102 issues a command, the drive motor 202 of the drive module 2 starts, and through the meshing transmission of the drive gear 204 and the driven gear 206, it drives the driven shaft 205 to rotate, thereby adjusting the direction of the bottom frame 301 of the motion module 3. The stepper motor 302 of the motion module 3 then drives the main shaft 303 to rotate, and the main joint arm 304 moves accordingly, and the swing trajectory of the joint arm 306 is controlled by the limiting component 5.

[0034] The limiting assembly 5 forms a multi-level linkage mechanism through the connecting rod 501, limiting rod 502, steering rod 503, limiting block 504, and linkage arm 505, ensuring the stability of the articulated arm 306 during complex movements. A key-end absolute encoder 41 is installed at multiple hinge points to measure the angles of each joint in real time. The angle data is transmitted to the main processor 103 via a dedicated protocol interface 104, and the main processor 103 corrects for the deviation between the target position and the actual position.

[0035] An inertial measurement unit 42 is mounted on the end of the articulated arm 306 and the front of the clamping plate 311 to detect non-rigid vibrations. A gyroscope 422 outputs angular velocity ω, and an accelerometer 423 outputs acceleration a. These data are transmitted to the main processor 103 via a high-speed data interface 105. The main processor 103 executes a vibration suppression algorithm, calculating the vibration frequency based on the acceleration data. ; Where f represents the vibration frequency, k is the system stiffness, and m is the equivalent mass. The vibration is counteracted by applying a compensating force through real-time adjustment of the motor torque.

[0036] Example 3; Please see Figures 1-10 A specific embodiment is provided, in which the control motherboard 102 receives the bearing assembly task and coordinate parameters sent by the host computer. The main processor 103 plans a smooth motion trajectory from the picking station to the assembly station based on the parabolic connection algorithm, and generates the angle command sequence for each joint.

[0037] The drive motor 202 of drive module 2 starts, driving the drive gear 204 to rotate via drive shaft 203. This gear meshes with the driven gear 206, driving the driven shaft 205 to rotate, thus rotating the entire motion module 3 to the pickup position. The stepper motor 302 of motion module 3 drives the main shaft 303 to rotate. The articulated main arm 304 and articulated support arm 306 are linked under the constraint of the limiting component 5, causing the end clamping frame 307 to move precisely above the bearing feeder. The clamping motor 308 drives the bidirectional lead screw 309, causing the moving block 310 to drive the clamping plate 311 to stably clamp the miniature bearing with a force of 5 Newtons.

[0038] During the movement towards the assembly station, three key-end absolute encoders 41 continuously measure the actual rotation angle of the corresponding articulated joints. The code disk 411 works in conjunction with the reading head 412, and the protective housing 413 ensures a stable measurement environment. The main processor 103 reads these angle values ​​at a frequency of 1kHz via a dedicated protocol interface 104 and compares them in real time with the target angle in the trajectory planning. If a deviation of 0.005 radians is detected between the actual angle of the articulated arm 306 and the target value, the main processor 103 immediately calculates the correction amount through the PD controller and adjusts the output of the stepper motor 302 to ensure accurate end-effector trajectory.

[0039] When the clamping frame 307, carrying the bearing, approaches the assembly station and makes slight contact with the rotating shaft, the inertial measurement unit 42 detects an impact vibration signal with an amplitude of 2.5g and a frequency of approximately 120Hz in the Z-axis direction. The gyroscope 422 and accelerometer 423 inside the measuring cylinder 421 work together, and this data is captured by the main processor 103 via the high-speed data interface 105. The vibration suppression algorithm embedded in the main processor 103 is triggered. This algorithm, based on input shaping technology, generates a compensation torque command with an opposite phase within 2 milliseconds and sends it to the drive motor 202 and the stepper motor 302. This compensation torque effectively cancels out most of the vibration energy, allowing the end effector to quickly recover stability after contact, with the vibration amplitude decaying to below 0.1g within 50 milliseconds.

[0040] With the support of dual closed-loop control for position and vibration, the clamping plate 311 smoothly and vertically presses the bearing into the designated position on the rotating shaft, and the pressing force is maintained at 8 Newtons by the current loop control. After assembly, the clamping plate 311 is released, and the robot's joints reset sequentially.

[0041] Working principle: The entire control process begins with the control motherboard 102 issuing a motion command. After receiving the command, the drive module 2 starts the drive motor 202. The drive motor 202 drives the drive gear 204 to rotate via the drive shaft 203, thereby engaging the driven gear 206 and causing the driven shaft 205 to rotate. The motion of the driven shaft 205 is transmitted to the bottom frame 301 of the motion module 3. The stepper motor 302 inside the bottom frame 301 then starts, driving the main joint arm 304 to rotate via the main shaft 303. During this process, the limit seat 305 physically limits the rotation angle of the main shaft 303 to ensure that the movement range is within a safe area.

[0042] As the main articulated arm 304 moves, the limiting component 5 begins to operate. The connecting rod 501 rotates with the main shaft 303, hinges the articulated support arm 306 via the limiting rod 502, and restricts the swing trajectory of the articulated support arm 306. Simultaneously, the steering rod 503 is hinged to the limiting block 504, and the linkage arm 505 is further connected to the articulated support arm 306, forming a multi-level linkage mechanism to ensure that the articulated support arm 306 maintains stability and accuracy during complex movements. When the clamping frame 307 at the end of the articulated support arm 306 needs to perform a gripping operation, the clamping motor 308 starts, driving the bidirectional lead screw 309 to rotate, causing the moving block 310 to drive the clamping plate 311 to move in opposite directions or in the opposite direction, thereby clamping or releasing the object.

[0043] Throughout the entire motion process, the control module 4 monitors and adjusts the motion accuracy in real time. Key-end absolute encoders 41 are installed at the hinges of the main joint arm 304 and the outrigger arm 306, the steering rod 503 and the limit block 504, and the limit block 504 and the linkage arm 505. They measure the rotation angles of each joint using an encoder disk 411 and a reading head 412, and transmit the data to the main processor 103 via a dedicated protocol interface 104. Based on this angle feedback, the main processor 103 calculates the deviation between the actual position and the target position and generates correction commands to adjust the output of the drive motor 202 or the stepper motor 302. Simultaneously, an inertial measurement unit 42 is installed at the end of the outrigger arm 306 and on the front of the clamping plate 311. It detects non-rigid vibrations using a gyroscope 422 and an accelerometer 423. This high-frequency vibration data is transmitted to the main processor 103 via a high-speed data interface 105. The main processor 103 executes a vibration suppression algorithm to adjust motion parameters in real time to reduce the impact of vibrations.

[0044] Furthermore, the linkage frame 506 and linkage rod 507 at the top of the linkage arm 505 enhance the structural rigidity of the motion module 3, reduce the measurement error of the inertial measurement unit 42, and thus improve the accuracy of vibration data. After the motion command is issued, the drive module 2 and motion module 3 execute the action. The control module 4 collects real-time data through the key end absolute encoder 41 and the inertial measurement unit 42. The main processor 103 comprehensively analyzes and optimizes the control strategy to ensure that the robot's motion is smooth, accurate, and stable.

[0045] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-precision motion control device for an articulated robot, characterized in that, include: A base (101) is provided, on the top of which a control motherboard (102) is mounted for motion control of the robot. A drive module (2) is mounted on top of the base (101) and is used to control the movement of the robot according to the signal from the control motherboard (102); Motion module (3), which is installed on top of drive module (2) and is used to complete various motion processes of the robot; The control module (4) is installed on one side of the motion module (3) and is used to control the process of the motion module (3) according to the actual situation. The control module (4) includes a key end absolute encoder (41) and an inertial measurement unit (42). The key end absolute encoder (41) is installed at the hinge joint of the motion module (3) and is used to measure the rotation angle of the final output axis of the robot joint body. The inertial measurement unit (42) is installed at the unit end of the motion module (3) and is used to detect non-rigid vibration at the joint end.

2. The high-precision motion control device for an articulated robot according to claim 1, characterized in that: The key end absolute encoder (41) includes a code disk (411) installed at the hinge joint of the motion module (3), a reading head (412) is installed on the top of the code disk (411), and a protective shell (413) is also installed on the top of the code disk (411) for protecting the code disk (411) and reading.

3. The high-precision motion control device for an articulated robot according to claim 1, characterized in that: The inertial measurement unit (42) includes a measuring cylinder (421) installed at the end of the motion module (3) unit. A gyroscope (422) is installed in the inner cavity of the measuring cylinder (421), and an accelerometer (423) is installed on one side of the gyroscope (422).

4. The high-precision motion control device for an articulated robot according to claim 1, characterized in that: The drive module (2) includes a drive frame (201) mounted on the top of the base (101). A drive motor (202) is mounted on the top of the inner cavity of the drive frame (201). A drive shaft (203) is fixedly connected to the bottom of the output shaft of the drive motor (202). A drive gear (204) is fixedly connected to the bottom of the drive shaft (203). A driven shaft (205) is rotatably connected to the top of the drive frame (201). The driven shaft (205) passes through the drive frame (201) and extends into the inner cavity of the drive frame (201). A driven gear (206) is mounted on the outer ring of the driven shaft (205). The driven gear (206) meshes with the drive gear (204) for adjusting the direction of the driven shaft (205) and its top structure.

5. The high-precision motion control device for an articulated robot according to claim 4, characterized in that: The motion module (3) includes a base frame (301) mounted on the top of the driven shaft (205). A stepper motor (302) is mounted on the front of the base frame (301). The output end of the stepper motor (302) is fixedly connected to the main shaft (303). A joint main arm (304) is fitted around the outer ring of the main shaft (303). A limit seat (305) is also installed in the inner cavity of the base frame (301) for limiting the rotation of the main shaft (303). A joint support arm (306) is also hinged to the top of the joint main arm (304). A limit component (5) is also installed between the joint main arm (304) and the joint support arm (306) for the normal operation of the joint support arm (306).

6. The high-precision motion control device for an articulated robot according to claim 5, characterized in that: The limiting component (5) includes a connecting rod (501) fitted on the outer ring of the main shaft (303), and a limiting rod (502) is hinged to the top of the connecting rod (501). The limiting rod (502) is rotatably connected to the articulated arm (306) via a pin.

7. A high-precision motion control device for an articulated robot according to claim 5, characterized in that: The limiting assembly (5) also includes a steering rod (503) hinged to the top of the bottom frame (301). A limiting block (504) is hinged to the top of the steering rod (503). The limiting block (504) is rotatably connected to the main joint arm (304) and the joint support arm (306) via a pin. A linkage arm (505) is also hinged to the top of the limiting block (504) for the normal operation of the joint support arm (306). The key end absolute encoder (41) is installed at the hinge between the main joint arm (304) and the joint support arm (306), at the hinge between the steering rod (503) and the limiting block (504), and at the hinge between the limiting block (504) and the linkage arm (505).

8. A high-precision motion control device for an articulated robot according to claim 5, characterized in that: The motion module (3) also includes a clamping frame (307) installed at the end of the joint arm (306). A clamping motor (308) is installed in the inner cavity of the clamping frame (307). The output shaft of the clamping motor (308) is fixedly connected to a two-way lead screw (309). The outer ring of the two-way lead screw (309) is threadedly connected to a moving block (310). A clamping plate (311) is fixedly connected to the bottom of the moving block (310). The inertial measurement unit (42) is installed on the front of the joint arm (306) and the clamping plate (311) to detect the non-rigid vibration of the joint arm (306) and the clamping plate (311).

9. A high-precision motion control device for an articulated robot according to claim 7, characterized in that: The top of the linkage arm (505) is hinged to a linkage frame (506), and a linkage rod (507) is fixedly connected in the inner cavity of the linkage frame (506) to improve the measurement accuracy of the inertial measurement unit (42).

10. A high-precision motion control device for an articulated robot according to claim 1, characterized in that: The motherboard includes a main processor (103), a dedicated protocol interface (104) is installed on one side of the main processor (103) for connecting to the key end absolute encoder (41), and a high flow rate data interface (105) is also installed on one side of the main processor (103) for connecting to the inertial measurement unit (42) and specifically for processing high-frequency inertial data and executing vibration suppression algorithms.

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