CN101293350A - Distributed Dual Bus Motion Control System for Humanoid Robot - Google Patents

Abstract

The invention relates to a distributed dual-bus motion control system for a humanoid robot, which belongs to a multi-degree-of-freedom motion control system and is used for motion control of a humanoid robot. The distributed double bus motion control system of humanoid robot includes coordinated motion controller, CAN bus, joint controller and local bus. The coordinated motion controller is connected to all joint controllers through the CAN bus, and all or part of the joint controllers are interconnected through the local bus. The present invention realizes the sharing of state and sensing information between joint controllers by increasing the local bus, reduces the amount of data transmitted on the CAN bus, and thus satisfies the system's higher real-time requirements while realizing distributed control based on the CAN bus .

Description

Distributed Dual Bus Motion Control System for Humanoid Robot

technical field

The invention relates to a distributed dual-bus motion control system for a humanoid robot, which is used for the motion control of a humanoid robot. It belongs to the multi-degree-of-freedom motion control system.

Background technique

Humanoid robot motion control systems usually need to control more than 30 joints in real time, and at the same time need to collect and process various information such as code discs and pressure sensors. In the past, the centralized control system based on the computer local bus such as PCI (Peripheral Component Expansion Interface), VME or ISA (Industry Standard Architecture) bus has high processing speed and communication speed, but the burden on the processor is too heavy, and it has nothing to do with the control system. If there are too many wires connected to the device, the system is susceptible to electromagnetic interference and affects the reliability of operation. In order to solve the above problems, the current humanoid robot joint control system mostly adopts a distributed control system based on CAN (Controller Area Network), USB (Universal Serial Bus) or OPEN-R bus developed by Sony Corporation. Among them, the CAN bus is widely used in the distributed motion control system of humanoid robots because of its outstanding reliability, real-time and flexibility.

There is a strong coupling relationship between the joint degrees of freedom of humanoid robots. The movement of a humanoid robot is usually not a single movement of a certain joint, but a coordinated movement of many joints. Traditional humanoid robot motion control systems usually use a coordinated motion controller to centrally control multiple joint controllers through the CAN bus, and these joint controllers complete the control of all joints. During the motion control process, the coordinated motion controller receives all joint current state information (code disc readings) from all joint controllers through the CAN bus. Plan all joint movements through the current state information of all joints and other sensor information, and then send joint control instructions to all joint controllers through the CAN bus. Because the humanoid robot system usually has more than thirty joints, the amount of control instruction data transmitted on the CAN bus is very large. In order to improve the adaptability of humanoid robots in uncertain environments, it is necessary to improve the real-time performance of the motion control system of humanoid robots. In order to improve the real-time performance of the motion control system, it is necessary to increase the sending frequency of joint control commands, thereby further increasing the amount of data transmitted on the CAN bus. The data transmission speed of the CAN bus is very limited (up to 1Mbps), so the traditional distributed motion control system based on the CAN bus is difficult to meet the higher real-time requirements of the humanoid robot system.

Contents of the invention

The purpose of the present invention is to provide a distributed dual-bus motion control system for humanoid robots to address the deficiencies of the prior art, which can meet the system's higher real-time requirements while realizing distributed control based on the CAN bus.

In order to solve the above problems, the distributed system based on CAN bus is adopted in the technical solution of the present invention. The entire humanoid robot distributed dual-bus motion control system is composed of a coordinated motion controller, CAN bus, local bus and several joint controllers. The coordinated motion controller is connected to all joint controllers through the CAN bus. All or part of the joint controllers The interconnection is realized through the local bus, and the joint state information and sensor information are shared.

The local bus in the present invention is realized through the communication interface on the joint controller. The communication interface includes a serial communication interface, a serial peripheral interface, and a multi-channel buffer serial interface.

The beneficial effects of the present invention are as follows: by adding a local bus between the joint controllers, the sharing of joint state information among these joint controllers can be realized. The calculation of the coupling relationship between joint degrees of freedom can be completed in these joint controllers through the sharing of joint state information. At this time, the coordinated motion controller can no longer send and receive the motion control commands of each joint through the CAN bus, but only need to send and receive the trajectory of the extremities, thereby greatly reducing the amount of data transmitted on the CAN bus and satisfying the system's higher real-time requirements. sexual demands.

The beneficial effects of the present invention are also manifested in that by adding a local bus between the joint controllers, sensor data can be shared between these joint controllers. Through the sharing of sensor data between joint controllers, the collection and compression of sensor data can be realized, thereby further reducing the amount of data transmitted on the CAN bus.

Description of drawings

FIG. 1 is a schematic structural diagram of a distributed dual-bus motion control system for a humanoid robot of the present invention.

Fig. 2 is a schematic structural diagram of Embodiment 1 of the present invention.

Fig. 3 is a schematic structural diagram of Embodiment 2 of the present invention.

Fig. 4 is a schematic structural diagram of Embodiment 3 of the present invention.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

Fig. 1 is a schematic structural diagram of a distributed dual-bus motion control system for a humanoid robot of the present invention. As shown in Fig. 1, the distributed dual-bus motion control system of the humanoid robot of the present invention includes a coordinated motion controller, a CAN bus, a local bus and a joint controller. The coordinated motion controller is connected to all joint controllers through CAN bus, and all or part of the joint controllers are interconnected through local bus. The local bus can adopt different topology structures according to the specific situation of data communication or the number of joint controllers, and the specific method will be introduced in detail in the embodiments.

Embodiment 1 is shown in Figure 2. In Fig. 2, the motion control system is composed of coordinated motion controller, CAN bus, local bus, joint controller 1 and joint controller 2. The coordinated motion controller is connected with the joint controllers 1 and 2 through the CAN bus, and the joint controllers 1 and 2 are interconnected through the local bus. The local bus is implemented through the McBSP interface on joint controllers 1 and 2. McBSP is a multi-channel buffered serial interface that can send and receive 8/16/32-bit serial data synchronously. Both reception and transmission use independent clock and frame signals, whose source, frequency and polarity can be programmed by the user, and support up to 128 channels for transmission and reception. McBSP includes a data flow path and a control path, and is connected to external devices through 6 signal lines. Data is sent through the sending pin DX and received through the receiving pin DR. The clock and frame synchronization control information are transmitted through the sending clock CLKX, receiving clock CLKR, sending frame synchronization FSX and receiving frame synchronization FSR pins respectively. In terms of hardware, connect the pins DX, CLKX and FSX related to the sending data on the joint controller 1 to the pins DR, CLKR and FSR related to the receiving data on the joint controller 2 respectively, and connect the joint controller 2 to the sending data The related pins DX, CLKX and FSX are respectively connected to the pins DR, CLKR and FSR related to receiving data on the joint controller 1 . In terms of software, McBSP is set as a point-to-point communication mode, so as to realize the interconnection between the two joint controllers.

Embodiment 2 is shown in FIG. 3 . In Fig. 3, the motion control system is composed of a coordinated motion controller, a CAN bus, a local bus, a joint controller 1, a joint controller 2 and a joint controller 3. The coordinated motion controller is connected to all joint controllers 1, 2 and 3 through the CAN bus, and the joint controllers 1, 2 and 3 are interconnected through the local bus. The local bus is still implemented using the McBSP interface on the joint controller. Set joint controller 1, which has a relatively light computational load, as the master, and set all other joint controllers 2 and 3 as slaves. Connect the pins DX, CLKX and FSX related to sending data on the main joint controller 1 to the pins DR, CLKR and FSR related to receiving data on joint controllers 2 and 3 respectively, and connect the pins on joint controllers 2 and 3 to The pins DX, CLKX and FSX related to sending data are respectively connected to the pins DR, CLKR and FSR related to receiving data on the joint controller 1 . If you need to connect more joint controllers, you can set the newly added joint controller as a slave, connect the pins related to sending data on it to the pins related to receiving data on the master joint controller 1, and set The pins related to receiving data on it are respectively connected to the pins related to sending data on the main joint controller 1 . In terms of software, McBSP is set to multi-channel mode, so as to realize the interconnection between three or more joint controllers.

Embodiment 3 is shown in Figure 4. In Fig. 4, the motion control system is composed of a coordinated motion controller, a CAN bus, a local bus, a joint controller 1, a joint controller 2 and a joint controller 3. The coordinated motion controller is connected to the joint controllers 1, 2 and 3 through the CAN bus, and the joint controllers 1, 2 and 3 are interconnected through the local bus. The local bus is still implemented using the McBSP interface on the joint controller. In terms of hardware, connect the pins related to sending data on joint controller 1 to the pins related to receiving data on joint controller 2, and connect the pins related to sending data on joint controller 2 to joint controller 3 respectively. Connect the pins related to receiving data on the joint controller 3 to the pins related to sending data on the joint controller 3 and the pins related to receiving data on the joint controller 1 to form a ring topology network. If you need to connect more joint controllers, you can connect the pins related to sending data on joint controller 3 to the pins related to receiving data on the newly added joint controllers, and connect the newly added joint controllers to The pins related to sending data are respectively connected to the pins related to receiving data on the joint controller 1 . In terms of software, McBSP is set as a point-to-point communication method, so as to realize the interconnection between three or more joint controllers.

During implementation, Embodiments 1, 2 and 3 can be used in combination to realize interconnection among some or all of the joint controllers. In addition to the realization of the local bus using the McBSP interface, it can also be realized by using other types of common interfaces on the joint controller such as SCI (Serial Communication Interface) and SPI (Serial Peripheral Interface) and other interfaces. The specific implementation methods and embodiments 1, 2 or 3 are similar.

Claims (2)

1, a kind of apery robot distributed dual-bus motion control system, it is characterized in that constituting by coordinated movement of various economic factors controller, CAN bus, local bus and some joint controls, coordinated movement of various economic factors controller links to each other with all joint controls by the CAN bus, interconnected between all or part of joint control by the local bus realization, share joint status information and sensor information; Described local bus is realized by the communication interface on the joint control.

2,, it is characterized in that the communication interface on the described joint control is serial communication interface, Serial Peripheral Interface (SPI) or multichannel buffer serial line interface according to the apery robot distributed dual-bus motion control system of claim 1.

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