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Modular industrial robot reconstruction system and control method thereof

A technology for reconstructing systems and robots, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of lack of robot kinematics and dynamics model establishment and solution algorithms, lack of robot reconfiguration control methods, etc., to achieve easy control The effect of systematic analysis and synthesis, easy programmatic realization, and simple calculation form

Inactive Publication Date: 2017-12-15
DALIAN JIAOTONG UNIVERSITY
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Although the reconfigurable modular design idea is widely recognized in the field of industrial robot research, there are few perfect reconfigurable modular robot applications in practical applications. Construct a robot reconfiguration control method that meets the requirements of use, and lack the corresponding robot kinematics and dynamics model establishment and solution algorithm, which makes it difficult to provide model and data support for robot trajectory planning and control system development

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  • Modular industrial robot reconstruction system and control method thereof
  • Modular industrial robot reconstruction system and control method thereof
  • Modular industrial robot reconstruction system and control method thereof

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Embodiment Construction

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0037] The technical scheme of the present invention is further described below in conjunction with accompanying drawing and specific embodiment:

[0038] Such as figure 1 As shown, a modular industrial robot reconstruction system mainly includes: upper computer, communication unit, robot body, embedded multi-axis motion controller unit, port exp...

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Abstract

The invention discloses an open type reconstructive modular intelligent industrial robot reconstruction system; equipment is simple in structure, lower in cost, smaller in size, high in openness, long in service life and low in power consumption; the configuration selection and the reconstruction control can be effectively performed on a reconstructive modular robot; the terminal use portability and practicability are improved; the user upgrading cost is reduced; and the user use experience is improved. Meanwhile, the invention further provides a corresponding reconstruction system control method; the method is simple, liable to operate and high in accuracy, can preferably satisfy quick reconstruction demands in production by a flexible production line, enables the system to achieve easy expansion and customization through relative reconstruction and independence, improves the reliability and the maintainability, and is convenient to upgrade the system; and intelligent joint modules can bring convenience for distributive control of all joints.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a modularized industrial robot reconfiguration system and a control method thereof. Background technique [0002] Modular industrial robots have the characteristics of high flexibility, powerful functions, strong adaptability, stable and changeable structures, etc. It is a frontier proposition in the development of modern robot control systems. Its basic design idea is to adapt to the requirements of flexible production lines. It is reasonably divided into relatively independent reconfigurable modules, and the final structure of the robot is determined by the flexible production line. Reconfigurable modular robots have extensive adaptability and convenient reconfigurability, and have great potential in the fields of agile manufacturing systems, flexible manufacturing systems, small-batch multifunctional production lines, military, aerospace, nuclear waste disposal, and operations in ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J9/16B25J13/00
CPCB25J9/08B25J9/1664B25J13/00
Inventor 王振华薛严冰孙克争周雪峰许琳娜
Owner DALIAN JIAOTONG UNIVERSITY
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