5 axis 6 axis mixing control method and system for industrial robot

摘要

The present invention provides a 5-axis and 6-axis mixing control method and system for an industrial robot. The mixed control method includes the following procedures: the channels of the 5-axis robot and the 6-axis robot are respectively arranged, and the first joint axis, the second joint axis, the third joint axis, the fourth joint axis, and the fifth joint axis. And a plurality of rods connected in series to form a 5-axis robot, and the first joint axis, the second joint axis, the third joint axis, the fourth joint axis, the fifth joint axis, the sixth joint axis, and the like A procedure for constructing a 6-axis robot by a plurality of rods connected in series, a 5-axis robot corresponding to the first channel, and a 6-axis robot corresponding to the second channel are arranged. The movement target position of each joint axis is obtained, and according to the obtained movement target position of each joint axis of the 5-axis robot and 6-axis robot, the first channel realizes the motion control to each joint axis of the 5-axis robot. And second And a procedure of channels to realize the movement control of the respective joint axes of the 6-axis robot. According to the present invention, a material is processed using a 5-axis robot, and at that time, the flexible connection of the machine can be reduced to suppress vibration in the material processing process. It is possible to secure the flexibility of operation at that time. [Selection] Figure 1