Patent ID: 8504207
Filing Date: 2013-08-06
Classification: B25J,G05B

Abstract:
1. A method for controlling motions of a mechanical arm using an electronic device, the mechanical arm comprising an x-axis, a y-axis, and a z-axis, the method comprising: setting motion control parameters comprising a step angle of a motor installed in line with the z-axis, and predefining angles of rotation as reference points regarding orientation of a rotating arm when rotated; calculating a rotation angle of the rotating arm in a polar coordinate system, and calculating coordinate motions of the x-axis and the y-axis controlled to move a fixed end of the rotating arm to one of the reference points according to the motion control parameters; calculating an offset correction value of a pole origin position of the polar coordinate system according to the rotation angle, the step angle of the motor, and the coordinate motions; correcting the pole origin position and each of the coordinate motions using the offset correction value; controlling the mechanical arm to move according to the corrected coordinate motions; and driving the rotating arm to reach another reference point according to a multiple of the step angle, wherein the driving step comprises: generating pulse signals according to the multiple of the step angle; outputting the pulse signals to a motor controller that is connected to the electronic device; converting the pulse signals into a binary signal by the motor controller, and transmitting the binary signal to a motor driver for driving the motor; and driving the rotating arm to rotate by the motor.