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Multifunctional multi-legged robot control system

A multi-legged robot and control system technology, applied in the field of multi-functional multi-legged robot control system, can solve problems affecting normal operation and lower overall efficiency, and achieve the effects of convenient replacement and maintenance, simple wiring, and good synchronization performance

Inactive Publication Date: 2019-01-22
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the number of controlled objects increases, the overall efficiency of the system decreases
[0005] (3) Using a centralized control structure, once the system fails, it will affect the normal operation of all parts of the entire system, resulting in global consequences

Method used

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  • Multifunctional multi-legged robot control system
  • Multifunctional multi-legged robot control system
  • Multifunctional multi-legged robot control system

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Experimental program
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Embodiment Construction

[0041] Embodiments of the present invention will be described in detail below. It should be emphasized that the following description is only exemplary and not intended to limit the scope of the invention and its application.

[0042] refer to figure 1 , in one embodiment, a multi-functional multi-legged robot control system is a distributed multi-level control system, including system level, subsystem level and component level, the system level includes a central controller, and the central control The device is used for task planning and control of the entire system, receiving task instructions from the PC to control the upper computer, decomposing the instructions, and planning and outputting instructions for each control module at the subsystem level. instructions from the central controller, and distribute the instructions to the component-level joint controllers through preset trajectory planning and control algorithms to control each single foot, and upload the status ...

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Abstract

A multifunctional multi-legged robot control system is a distributed multi-level control system and comprises a central controller. Multiple levels include a system level, a subsystem level and a component level, the central controller is used for task planning and control of the whole system, receiving task instructions of a PC (personal computer) control upper computer, decomposing the instructions and planning output of control module instructions of the subsystem level, and the subsystem level at least comprises a plurality of single leg controllers for receiving the instructions of the central controller, distributing the instructions to a joint controller of the component level by a preset track planning and control algorithm, controlling all single legs and uploading state information of the component level to the central controller. According to the system, by distributed control of a multifunctional multi-legged robot, improved flexibility, portability, cooperativity and highprecision can be acquired, and the system is strong in applicability to various application scenes.

Description

technical field [0001] The invention relates to robot control, in particular to a multi-functional multi-legged robot control system. Background technique [0002] In terms of the control system design of multi-legged walking robots, there are two common control system structures: one is a centralized control structure, and the other is a distributed control structure. In the centralized control structure, the joint drive and data processing of the walking robot are completed in the same computer, and all the motion joints are centrally managed and controlled by the central control processor. That is to say, using the centralized control method, one computer completes all the motion planning and control functions in the system, and the central computer directly controls all the sensors and motion actuators in the robot system. With this control structure, the joint control is direct, which can ensure high real-time performance. However, the centralized control structure al...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664
Inventor 朱晓俊梁斌刘厚德王学谦高学海
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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