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Seven-degree-of-freedom cooperative robot intelligent controller

A robot intelligence and robot technology, which is applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., to achieve the effects of improving motion efficiency and motion accuracy, reducing costs, and reducing time

Inactive Publication Date: 2021-01-01
BEIJING AEROSPACE AUTOMATIC CONTROL RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The invention discloses a seven-degree-of-freedom collaborative robot intelligent controller, which solves the modularization problem of the current collaborative robot controller

Method used

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  • Seven-degree-of-freedom cooperative robot intelligent controller
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  • Seven-degree-of-freedom cooperative robot intelligent controller

Examples

Experimental program
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Embodiment 1

[0050]The embodiment of the present application discloses an intelligent controller for a seven-degree-of-freedom collaborative robot. The intelligent controller includes an embedded hardware platform; Connecting 7DOF 7DOF Collaborative Robots.

[0051] The CPU is a quad-core processor with ARM Cortex-A17 architecture, its highest frequency can reach 1.8GHz, embedded Mali-T760 MP4 graphics processing, supports OpenGL ES1.1 / 2.0 / 3.0, OpenVG1.1, OpenCL, Directx11, And can realize 4Kx2K H.264 and 10bits H.265 video hardware decoding.

[0052] The CPU is configured with 2GB of DDr3 dual-channel memory and 16GB of eMMc high-speed flash memory, and supports the latest wireless 802.11ac protocol 2.4GHz / 5GHz dual-band Wi-Fi, as well as Bluetooth4.0 and Gigabit Ethernet.

[0053] The CPU supports multiple display output interfaces such as dual MIPI, LVDS, HDMI, EDP, and VGA, and supports extended interfaces such as PWM, SPI, UART, ADC, 12C, 12S, and GPIO.

[0054] The size of the inte...

Embodiment 2

[0099]The embodiment of the present application discloses the control method of the intelligent controller of the seven-degree-of-freedom collaborative robot. The intelligent controller receives the instructions of the host computer software, converts the instructions into the movement path of the robot and executes them, so as to realize the control, planning and monitoring of the movement process of the robot. The movement process and program operation process of the robot ensure the stable and reliable operation of the robot during the multimedia recording process, so that the robot can accurately realize image acquisition. The main steps are:

[0100] (1) Receive control instructions from the teaching pendant;

[0101] (2) Obtain the status information of the seven-degree-of-freedom collaborative robot;

[0102] (3) Generate a robot motion environment model;

[0103] (4) Generate a trajectory without collision with the environment;

[0104] (5) Control the movement of th...

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Abstract

The invention discloses a seven-degree-of-freedom cooperative robot intelligent controller. The seven-degree-of-freedom cooperative robot intelligent controller comprises an embedded hardware platformand an open type control system running on the embedded hardware platform, and the open type control system is connected with a demonstrator upwards and connected with a seven-degree-of-freedom cooperative robot downwards. According to the controller, a controller system structure combining hardware and software is established, and the robot realizes kinematics and dynamics control of the seven-degree-of-freedom robot based on an algorithm. In the movement process, the movement state of the robot is controlled through five function modules, a rapid planning algorithm is selected according tothe planning environment to achieve movement control, obstacle avoidance is carried out through a robot configuration file and environment obstacle import setting, and the safety to products and usersduring robot running is guaranteed. Through universal hardware platform construction and integrated software system design, the problems about modularization and universality of an existing robot intelligent controller are solved.

Description

technical field [0001] The invention belongs to the field of intelligent control, and in particular relates to an intelligent controller of a seven-degree-of-freedom collaborative robot. Background technique [0002] As the manufacturing industry further upgrades the demand for flexibility, speed, productivity and quality of the manufacturing system, robots are widely used in industrial manufacturing. The introduction of interconnected interaction between humans and machines can effectively improve manufacturing speed, manufacturing efficiency and greatly enhance the level of mass customization. At this stage, the control level and interconnected perception capabilities of traditional industrial robots can no longer meet the current manufacturing needs, and users' demand for collaborative robots that can cooperate with humans and learn is becoming more and more urgent. [0003] In the current collaborative robot market, each company launches its own collaborative robot prod...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/08B25J9/16
CPCB25J9/0081B25J9/08B25J9/1661B25J9/1679B25J9/1664
Inventor 弭寒光李海孟郭萌郭佳鑫李世先李凯魏元
Owner BEIJING AEROSPACE AUTOMATIC CONTROL RES INST
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