Six-axis cooperated robot multi-loop control system and control method thereof

Abstract

The invention relates to a six-axis cooperated robot multi-loop control system and a control method thereof. The system comprises a synchronous inductor, a distance sensor, a machine vision device and a robot control unit, wherein the robot control system is used for controlling the movement and the processing of a robot, and comprises a multi-axis servo control module, an image collecting module, a power supply board, an in-arm motor driver, a motor and man-machine interaction equipment, wherein the multi-axis servo control module, the image collecting module and the power supply board are integrated. According to the method, the machine vision is used; the distance sensor and the synchronous inductor are combined; the precise position of a workpiece on the flow line can be obtained; the on-line processing is performed. The control system provided by the invention has the advantages that the structural design is simple and reasonable; the operation and the use are convenient; the relying of the robot on a high-precision motor and a speed reducing machine is reduced; the cost is obviously reduced. The control method has the advantages that the flow process is simple; the problems of high mechanical manufacturing cost, fatigue abrasion and matching difficulty with the flow line in the prior art can be solved.

Description

technical field [0001] The invention belongs to the field of robot automatic control, and in particular relates to a multi-loop control system and control method of a six-axis collaborative robot based on synchronous sensors, distance sensors and machine vision. Background technique [0002] In the field of robot research, the robot control system is the most important part. At present, most robots mainly use the cooperation of precision reducer and servo motor to ensure the movement accuracy, and move according to the path taught in advance. This control method belongs to a completely open-loop control method, and its trajectory accuracy and positioning accuracy are mainly guaranteed by mechanical precision, and it moves along a set fixed trajectory. [0003] However, because the processing and manufacturing of high-precision precision reducers requires extremely high processing equipment and technological levels, and the manufacturing cost is also difficult to control, an...

AI Technical Summary

Problems solved by technology

[0005] In view of the above problems, the present invention proposes a six-axis collaborative robot multi-loop control system and control method, which has a reasonable concept and can solve the problems of high mechanical manufacturing costs, fatigue wear, and difficulty in coordinating with the assembly line in the prior art

Images