Series robot control system and calibration method

Abstract

The invention discloses a series robot control system and a calibration method, and the system comprises n-axis series drive modules which are respectively connected with n axes of an n-axis series robot, are controlled by a controller, and achieve the driving of a mechanical arm of the robot; each shaft series drive module comprises a group of drivers, a stepping motor, an encoder and a speed reducer which are connected in series; an encoder in each shaft series drive module is connected with a shaft of a stepping motor and is used for detecting the position of the stepping motor and transmitting a result to a driver of the same module; the controller is used for inverse solution operation of the robot and transmitting a calculation result to the driver; the driver is used for controlling rotation of the stepping motor connected with the driver in series. The stepping motor is used for driving the speed reducer connected with the stepping motor in series to rotate; the speed reducer is used for driving a shaft of the n-axis series robot connected with the speed reducer, and motion control over the n-axis series robot is carried out. According to the invention, control and zero calibration of the series robot driven by the stepping motor can be realized.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a serial robot control system and a calibration method. Background technique [0002] Compared with the servo motor drive, the stepper motor drive system has the characteristics of simple structure, convenient control, and low price, and has been widely used in economical equipment. In application scenarios that do not require high precision, such as palletizing and handling, stepping motors are used as driving components, which can effectively reduce the cost of tandem robots. [0003] In the robot control system, the controller mainly completes the calculation of the robot's trajectory planning, and the position control of each joint is generally completed by the motor driver. Stepper drive is used as the power part of the robot. Since the stepper motor driver cannot directly complete the position control of the stepper motor, acceleration and deceleration co...

AI Technical Summary

Problems solved by technology

Stepper drive is used as the power part of the robot. Since the stepper motor driver cannot directly complete the position control of the stepper motor, acceleration and deceleration control is usually required. However, the traditional stepper motor acceleration and deceleration trajectory planning is performed before the stepper motor moves to the target position. It is usually not possible to set a new target location

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