Gain adjustment method, device and robot for servo drive system of handling robot

A handling robot and servo-driven technology, which is applied in the field of handling robots, can solve the problems of different motor characteristics, different responses, and difficult linear motion of handling robots, and achieve the effect of improving the accuracy of motion trajectory

Active Publication Date: 2021-10-01
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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  • Application Information

AI Technical Summary

Problems solved by technology

The two sets of independent servo drive systems are not matched, and the different electrical and dynamic characteristics of the two servo drive systems lead to different responses. Therefore, it is difficult for the handling robot to perform linear motion accurately according to the predetermined trajectory

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  • Gain adjustment method, device and robot for servo drive system of handling robot
  • Gain adjustment method, device and robot for servo drive system of handling robot
  • Gain adjustment method, device and robot for servo drive system of handling robot

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Embodiment Construction

[0028] The present invention will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention are illustrated. The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention. The technical solution of the present invention will be described in various aspects below in conjunction with various figures and embodiments.

[0029] The "first", "second" and so on in the following are only used to describe the difference, and have no other special meanings.

[0030] f...

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Abstract

The invention discloses a method, a device and a robot for adjusting the gain of a servo drive system of a transport robot, and relates to the technical field of robots. The method includes: driving the left and right driving wheels of the transport robot to run through the first and second servo drive systems, Determine the following error according to the running distance of the left and right driving wheels and the predetermined running trajectory; adjust the gain parameters of the position loop unit of the first and second servo drive systems according to the following error to reduce the running deviation. The gain adjustment method, device and robot of the present invention adjust the position gain of the servo drive system driving the left and right drive wheels based on the following error of the left and right drive wheels, so that the dynamic characteristics of the two independent servo drive systems are matched, and the The coupling adjustment of two independent servo drive systems improves the motion trajectory accuracy of the handling robot, and improves the stability and safety of operation.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a gain adjustment method and device for a servo drive system of a transport robot and a transport robot. Background technique [0002] The tide of the information age has promoted the continuous reform of the logistics industry, and robots and automation equipment are becoming a new force in the logistics industry. There are more and more applications of unmanned warehouses, and the handling robots in unmanned warehouses will be fully used for cargo handling. There are usually two driving wheels in the chassis wheel train of the handling robot, such as figure 1 As shown, a pair of driving wheels 01 and 02 are distributed on the chassis of the handling robot. The driving wheels 01 and 02 are driven by their own motors. The two motors rotate in the same direction and at the same speed to realize the straight forward and backward of the robot. High-speed rotation can realize the in...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04B25J9/16
CPCB25J9/161G05B13/042
Inventor 霍峰
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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