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Specialized sport controller hardware platform used for 6-degree-of-freedom parallel robot

A motion controller and hardware platform technology, applied in the direction of program control manipulators, manipulators, electrical components, etc., can solve the problems of high price, control algorithm cannot be modified by users, weak openness, etc., to ensure control accuracy and good consistency scalability and scalability, the effect of reducing overhead

Inactive Publication Date: 2015-02-11
XIDIAN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The above four types of motion controllers that can be used for 6-DOF parallel robots have the following two disadvantages: 1) expensive; 2) weak openness, and the control algorithm cannot be modified by the user

Method used

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  • Specialized sport controller hardware platform used for 6-degree-of-freedom parallel robot
  • Specialized sport controller hardware platform used for 6-degree-of-freedom parallel robot
  • Specialized sport controller hardware platform used for 6-degree-of-freedom parallel robot

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Embodiment Construction

[0047] The present invention will be further described below in conjunction with the accompanying drawings. It should be noted that this embodiment is based on the technical solution and provides detailed implementation and operation process, but the protection scope of the present invention is not limited to this embodiment.

[0048] Such as figure 1 As shown, a special motion controller hardware platform for a 6-DOF parallel robot (hereinafter referred to as a special motion controller) is located in a control system that adopts the control form of "host computer + special motion controller". The industrial control computer IPC is used as the upper computer to realize the control interface function, and through the upper computer communication module, the RS422 asynchronous serial communication method is used to issue control commands to the special motion controller, and the special motion controller analyzes the commands; then, according to the current The system status an...

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Abstract

The invention discloses a specialized motion controller hardware platform used for a 6-degree-of-freedom (dof) parallel robot. On one hand, the control on a plurality of motors is realized through a bus way, the concrete bottom layer driving is completed by intelligent equipment, the control precision is effectively guaranteed, the real-time monitoring to the equipment state and faults can be conducted, and the specialized sport controller hardware platform has good consistency and expandability; on the other hand, the sampling function of an external sensor is finished by an auxiliary function chip FPGA, an ARM micro-controller as a main control chip obtains needed data through an external port as needed, the function distribution can effectively reduce the expense of the main control chip, and more resources can be used for the control system security and the accurate control; in addition, the kinematic algorithm of the 6-dof parallel robot is integrated in a motion controller, and the specialized motion controller can realize the control on a mechanism through a simple order in all occasions and obtain necessary data.

Description

technical field [0001] The invention relates to the technical fields of robotics and multi-axis motion controllers, in particular to a special motion controller hardware platform for 6-degree-of-freedom parallel robots. Background technique [0002] Six-degree-of-freedom parallel robots are widely used in motion simulation, high-precision pose adjustment, and CNC machining systems. The drive joints of a six-DOF parallel robot are usually realized by six servo electric cylinders with sliding degrees of freedom. In order to realize the high-precision control of the six electric cylinders and take into account the motion coordination between them, so as to realize the precise motion control of the motion platform, it is very necessary to study the special motion controller of the six-degree-of-freedom parallel robot. [0003] A six-degree-of-freedom parallel robot has six drive branches and belongs to a multi-axis motion control system. The coordinated operation of each axis i...

Claims

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Application Information

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IPC IPC(8): B25J9/18H04L29/06
Inventor 段学超王海龙米建伟段清娟保宏郑涛程璧
Owner XIDIAN UNIV
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