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Open type industrial robot controller architecture based on double CPUs and an FPGA

An industrial robot, an open technology, applied in the direction of computer control, program control, general control system, etc., can solve the problems of difficult integration of external hardware, expensive modification of closed systems, etc., to reduce the difficulty of development, realize real-time and synchronization , to achieve the effect of low-level opening

Inactive Publication Date: 2017-09-15
XI AN JIAOTONG UNIV
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  • Application Information

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Problems solved by technology

[0003] However, the current commercialized robot systems all use a dedicated controller with a closed structure. Generally, a dedicated computer is used as the upper-level main control computer, a dedicated robot language is used as an off-line programming tool, a dedicated microprocessor is used, and the control algorithm is solidified in EEPROM. , such a dedicated system is difficult to integrate external hardware, and the cost of modifying the closed system is very expensive. Without redesign, it is technically impossible in most cases

Method used

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  • Open type industrial robot controller architecture based on double CPUs and an FPGA
  • Open type industrial robot controller architecture based on double CPUs and an FPGA
  • Open type industrial robot controller architecture based on double CPUs and an FPGA

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Embodiment 1

[0020] refer to figure 1 , taking the interface extension as an example to illustrate the openness of the controller. ROS-I extended interface implementation plan: The Controller Layer of ROS-I is the manufacturer's interface layer of the robot controller. Through the interface of this layer and the TCP protocol, the trajectory message can be transmitted from the upper layer ROS-I to the bottom controller. By designing the analysis program, the corresponding position control instructions can be generated, and then the control of the robot can be realized. This part of the interface and functions can be realized by the auxiliary CPU of the controller, providing a hardware controller platform for ROS-I, which can be compared with the main CPU control part, and can also make full use of the research results of ROS-I to improve the controller. performance. Industrial bus expansion interface implementation plan: EtherCAT, POWERLINK, PROFINET and other industrial buses adopt Ether...

Embodiment 2

[0022] refer to figure 2 and image 3, taking performance testing and simulation technology as an example to illustrate the openness of the controller. The implementation plan of the open interface technology of the test system based on the built-in signal: Since the controller adopts a dual-CPU structure, the main control parameters, control variables and system feedback data are shared. The auxiliary CPU can capture all the shared signals inside the robot control system according to the servo control cycle, including: the output of each control loop of the main CPU, feedback information such as motor position, speed, current, and robot end posture information, using synchronous interpolation control signals as signals The collected trigger signal can realize data collection with a maximum collection frequency of 4KHz, and realize real-time communication with a PC through an Ethernet interface. The maximum communication speed is designed to be 1KHz. Acquisition and storage...

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Abstract

The invention discloses an open type industrial robot controller architecture based on double CPUs and an FPGA. A main CPU realizes product application of an industrial robot by calling a reconfigurable standard function library, and through data sharing, an auxiliary CPU can realize compensation control of a product, and can also totally take over control of an robot, and is used for algorithm research and function module development, thereby achieving the goal of hierarchical high openness. Since shared data adopt the same address coding, an auxiliary CPU program can generate a machine code directly executed by a main CPU program, thereby realizing rapid transplantation and reconstitution of a function module. A double-port RAM structure designed in the FPGA has two sets of completely independent data lines, address wires and read-write control lines, so that the two CPUs can independently access RAM resources inside the FPGA in a time-sharing manner, and an arbitration logic circuits are all integrated in the double-port RAM during simultaneous access of the double CPUs, thereby simplifying the design of the circuits.

Description

technical field [0001] The invention belongs to the technical field of industrial robot control, and in particular relates to the design and realization of an open industrial robot controller architecture based on dual CPU+FPGA. Background technique [0002] The open industrial robot controller plays an important role in promoting the application and research of robot technology. In terms of application, modern manufacturing puts forward higher requirements for industrial robots, requiring them to have more flexibility and an easier-to-use programming environment in the production process, adapting to different applications and the production of multiple varieties and small batches. All of these require the robot controller to be open, to be able to easily access the user's own external equipment, and to develop process control programs. In terms of research, the openness of the robot controller is more urgent. Researchers hope to have an open robot controller that can inte...

Claims

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Application Information

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IPC IPC(8): G05B19/042
CPCG05B19/0421G05B2219/25431
Inventor 陶涛吴玉强梅雪松赵飞林盛吕奎
Owner XI AN JIAOTONG UNIV
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