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A Hall-switch-based system for accurately positioning the initial position of the joint of a robot

A technology of robot joint and positioning system, which is applied in the field of zero position positioning system of robot joints, can solve the problems of reducing zero position positioning accuracy, aging of components and sensitivity to external interference, inability to eliminate the hysteresis of Hall switches, etc., so as to improve positioning The effect of precision

Inactive Publication Date: 2012-10-10
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
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  • Application Information

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Problems solved by technology

However, it cannot eliminate the influence of the hysteresis of the Hall switch, and is sensitive to the aging of components and external interference, which reduces the positioning accuracy of the zero position

Method used

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  • A Hall-switch-based system for accurately positioning the initial position of the joint of a robot
  • A Hall-switch-based system for accurately positioning the initial position of the joint of a robot
  • A Hall-switch-based system for accurately positioning the initial position of the joint of a robot

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Experimental program
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Embodiment Construction

[0066] like figure 1 As shown, the positioning system includes: Hall zero switch, Hall positive limit switch (negative limit switch is also optional), incremental encoder and joint controller. The joint controller determines the motion and position of the joint through the feedback signal of the Hall switch and the incremental encoder.

[0067] figure 2 It is the structural diagram of the positioning system, in which the joint is connected to the fixed link 1 and the moving link 2, and the motor drives the joint to rotate to realize the rotation of the link 2; the encoder is connected to the motor shaft 6 to accurately record the rotation angle of the motor and feed it back to the controller , so that the controller can obtain the rotation angle of the joint; the Hall zero position switch is composed of a magnetic bead 5 and a Hall sensor 3, the magnetic bead 5 is installed on the front end of the connecting rod 2, and rotates with the connecting rod 2, and the Hall sensor 3...

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Abstract

The invention discloses a Hall-switch-based system for accurately positioning the zero position of the joint of a robot. On the basis of utilizing a Hall zero position switch as a position sensor, the joint rotates to the same direction when powered up and the system ingeniously selects and ascertains the zero position of the joint of the robot by using the hysteretic characteristic of the Hall signal and a Z pulse of a motor shaft, achieving the automation for accurately positioning the zero position of the joint of the robot. The system has the advantages of strong anti-interference capability, high stability, high precision, low cost and simple structure.

Description

technical field [0001] The invention relates to a positioning system, in particular to a zero position positioning system for robot joints. Background technique [0002] When the robot is working, the controller needs to obtain the pose information of each joint of the robot in real time for trajectory planning and motion control. Information cannot be obtained directly from sensors. At this time, the attitude of each joint of the robot can only be determined by comparing with the position determined before the action of a robot. This position is the zero position of each joint of the robot, which is equivalent to the zero point in the coordinate system, and all movements of the robot are relative to the zero position. As the benchmark of the movement used by the robot, the determination of the zero position is not only a prerequisite for the normal operation of the robot, but also greatly affects the positioning accuracy of the robot movement. Therefore, certain methods ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J13/00
Inventor 段星光陈悦黄强赵洪华刘天博
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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