5-AXIS AND 6-AXIS MIXING CONTROL METHOD FOR INDUSTRIAL ROBOT AND SYSTEM THEREOF

摘要

A five-axis and six-axis mixing control method for industrial robot and a system thereof are disclosed. The mixing control method includes the following steps: installing an end effector on each end of the fifth joint shaft and the sixth joint shaft; the rods connected in series by the first, the second, the third, the fourth and the fifth joint shaft form a five-axis robot, and the rods connected in series by the first, the second, the third, the fourth, the fifth and the sixth joint shaft form a six-axis robot. Configuring the five-axis robot corresponding to the first channel, and the six-axis robot corresponding to the second channel; obtaining respectively the motion target position of each joint shaft of the five-axis and six-axis robot. According to the obtained motion target position of each joint shaft of the five-axis and six-axis robot, the first channel implemented to control the movement of each joint shaft of the five-axis robot, and the second channel is implemented to control the movement of each joint shaft of the six-axis robot. Therefore, the five-axis robot can be used to process the material, with reducing the flexibility of mechanical connection, reducing the vibration in the material processing process, performing workpiece transport by means of the 6-axis robot, and maintaining the flexibility of operation