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A robot control system

A control system and robot technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of inflexibility, single control method, low efficiency, etc., to achieve the effect of simplifying the control system, improving the cost performance, and free and flexible control methods

Active Publication Date: 2019-03-22
GUANGZHOU INST OF ADVANCED TECH CHINESE ACAD OF SCI +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] 1) Using ARM as the robot dynamics calculation unit makes the system inefficient when doing large-scale and complex calculations;
[0005] 2) The control mode is single, only supports bus communication or single pulse analog control mode, which is not flexible enough

Method used

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  • A robot control system
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Embodiment 1

[0039] Such as figure 1 As shown, the present invention provides a kind of robot control system, comprises dual-core processor, and dual-core processor is respectively connected with network communication module, data storage module, monitoring module, network communication servo driver, pulse generation module, DAC digital-to-analog conversion module; The communication module is connected with the host computer; the pulse generation module is connected with the pulse command servo driver; the DAC digital-to-analog conversion module is connected with the analog command servo driver; the network communication servo driver is connected with the servo motor; the servo motor is also connected with the pulse command servo driver, analog Quantity command servo drive, robot, encoder connection; also includes power management module.

[0040] The power management module is used to provide power to the control system. The power management module is a low-voltage power supply. The power...

Embodiment 2

[0054] Such as figure 2 As shown, the present invention also provides a robot control system described in the robot control system, which also includes a serial port module connected to the dual-core processor on the basis of Embodiment 1, and the serial port module is used for the expansion interface of the serial communication mode Realize the connection between the control system and external equipment.

[0055] The robot control system also includes a display module connected with the dual-core processor, and the display module is used for displaying state data reflecting the control system.

[0056] The robot control system also includes an extended IO module connected to the dual-core processor, and the extended IO module is used for data analysis or exchange between the control system and external devices.

[0057] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0058] 1), the present invention adopts ARM as peripheral c...

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Abstract

The invention discloses a robot control system which comprises a dual-core processor, wherein the dual-core processor comprises an advanced reduced instruction set computer machine (ARM) processor and a digital signal processor (DSP). According to the robot control system, an ARM+DSP control strategy is adopted; a conventional control mode of industrial computer PC+movement control card+servo drive+servo motor is replaced; an ARM is responsible for movement planning and track planning of a robot; the DSP is responsible for dynamic and kinematic calculation of the robot, the strong calculation performance of the DSP and the peripheral control property of the ARM are sufficiently utilized, and due to the function distribution, the expense of a main control chip can be effectively reduced, a relatively great amount of resources can be used for controlling the security and the precision of the control system, and the cost performance can be greatly improved; the robot control system has EtherNet and pulse analog quantity control modes which can be selected by users, and a servo drive and a servo motor applicable to multiple control modes are provided, so that control methods can be conveniently switched by the users, and relatively good universality can be achieved.

Description

technical field [0001] The invention relates to the technical field of embedded computer control, in particular to a robot control system. Background technique [0002] The six-degree-of-freedom dedicated motion controller hardware platform developed by Xidian University adopts the ARM+FPGA architecture. On the one hand, it uses a bus to control multiple motors. On the other hand, the sampling function of the external sensor is completed by the auxiliary function chip FPGA, and the ARM microcontroller as the main control chip only obtains the required data through the external interface when needed. [0003] But there is following shortcoming in prior art: [0004] 1) Using ARM as the robot dynamics calculation unit makes the system inefficient when doing large-scale and complex calculations; [0005] 2) The control mode is single, only supports bus communication or single pulse analog control mode, which is not flexible enough. Contents of the invention [0006] In vie...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/161
Inventor 林宁王卫军张弓顾星侯至承蔡君义祁玫丹
Owner GUANGZHOU INST OF ADVANCED TECH CHINESE ACAD OF SCI
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