Industrial robot digital twin real-time job control, monitoring and precision compensation method

• Main Authors: LIU LINYAN, DU HONGXIANG
• Format: Patent
• Language: Chinese; English
• Published: 05.04.2019
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention provides an industrial robot digital twin real-time job control, monitoring and precision compensation method. The industrial robot digital twin real-time job control, monitoring and precision compensation method comprises the following steps: constructing a robot digital twin model, and establishing the connection between a robot controller; driving the twin model and the robot controller to act synchronously by utilizing a real-time joint angle; and acquiring joint angle information of the robot in real time, and performing real-time joint angle compensation through the real-time joint angle of the twin model. 本发明提供了种工业机器人数字孪生实时作业控制、监控与精度补偿方法，包括：构建机器人数字孪生模型，并建立其与机器人控制器的联系；利用实时关节角驱动孪生模型且机器人控制器同步动作；实时采集机器人关节角信息，并通过与孪生模型的实时关节角对比进行实时关节角补偿。