混联机器人回零检测与高精度原点定位方法

Research on Realizating Method of the Zero Returning inspection and Zero Shift with High Precision in Hybrid Robot

根据串并联组成的混联机器人的特殊性,针对其由直线移动关节和回转关节组成的两种不同的运动方式,在WINDOWS环境下,采用二级检测与一级定位的硬件方法及VXD的软件措施实现了机器人各关节回零检测与原点高精度定位。实践证明通过此方法可以实现比较高的原点定位精度。此方法对工程中原点定位的应用也具有一定的通用性。

A hardware method of two level inspection, one level zero shift and a software method of VXD have been used to realize the zero returning inspection of robot's joints and the zero shift with high precision under the Windows circumstances in term of the particularity of the hybrid robot composed of serial and parallel parts and two different movements of rectilinear motion joints and revolute joints. Experiments show that a higher precision of zero shift can be realized by this method. It also has universal use to point orientation in engineering.