CN101293350A - Apery robot distributed dual-bus motion control system - Google Patents

Apery robot distributed dual-bus motion control system Download PDF

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Publication number
CN101293350A
CN101293350A CNA200810038844XA CN200810038844A CN101293350A CN 101293350 A CN101293350 A CN 101293350A CN A200810038844X A CNA200810038844X A CN A200810038844XA CN 200810038844 A CN200810038844 A CN 200810038844A CN 101293350 A CN101293350 A CN 101293350A
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CN
China
Prior art keywords
bus
joint
control
joint control
pin
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CNA200810038844XA
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Chinese (zh)
Inventor
刘成刚
苏剑波
张怡
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上海交通大学
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Priority to CNA200810038844XA priority Critical patent/CN101293350A/en
Publication of CN101293350A publication Critical patent/CN101293350A/en

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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention relates to a distribution type double-bus moving control system of a humanoid robot which belongs to a multi-freedom moving control system used for the moving control of the humanoid robot; the distribution type double-bus moving control system of the humanoid robot includes a coordinate moving controller, a CAN bus, joint controllers and a partial bus. The coordinate moving controller is connected with the joint controllers by the CAN bus; all or partial joint controllers are mutually connected with each other by the partial bus. The invention realizes the share of states and sensing information between the joint controllers by adding the partial buses and reduces the data amount transmitted on the CAN bus; thereby realizing the distribution type control based on the CAN bus and meeting the requirement of the system on a higher real time property simultaneously.

Description

Apery robot distributed dual-bus motion control system
Technical field
The present invention relates to a kind of apery robot distributed dual-bus motion control system, be used for the motion control of anthropomorphic robot.Belong to the multifreedom motion control system.
Background technology
The anthropomorphic robot kinetic control system need be controlled the joint more than 30 usually in real time, needs to gather and handle multiple information such as code-disc, pressure sensor simultaneously.In the past based on the local bus of computer such as PCI (peripheral element extension interface), VME or ISA (industrial standard architectures) though the Centralized Control System of bus has very high processing speed and communication speed, but over-burden for processor, and the lead that links to each other with controller is too much, and system is subjected to electromagnetic interference easily and influences reliability of operation.For overcoming the above problems, present robot joints control system has adopted the dcs based on the OPEN-R bus of CAN (controller local area network), USB (USB) or Sony exploitation more.Wherein the CAN bus is widely used in apery robot distributed kinetic control system because have outstanding reliability, real-time and flexibility.
There is very strong coupled relation between the robot joints free degree.The motion of anthropomorphic robot is not the independent motion in certain joint usually, but the motion in phase together of many joints.Traditional anthropomorphic robot kinetic control system usually adopts a coordinated movement of various economic factors controller by a plurality of joint controls of CAN bus centralized Control, finishes control to all joints by these joint controls.In the motion control process, coordinated movement of various economic factors controller is by CAN bus reception all joint current state informations (code wheel reading) from all joint controls.Plan all joint motions by all joint current state informations and other sensor informations, send the joint control instruction by the CAN bus to all joint controls then.Because the anthropomorphic robot system has the joint more than 30 usually, so the control instruction data volume of transmitting on the CAN bus is very big.In order to improve the adaptive capacity of anthropomorphic robot under uncertain environment, need to improve the real-time of anthropomorphic robot kinetic control system.In order to improve the real-time of kinetic control system, just need to improve the transmission frequency of joint control instruction, thereby further increase the data volume that transmits on the CAN bus.The data transmission bauds of CAN bus very limited (the highest 1Mbps), therefore traditional distributed kinetic control system based on the CAN bus is difficult to satisfy the anthropomorphic robot system to the more requirement of high real-time.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of apery robot distributed dual-bus motion control system is provided, in the distributed control that realizes based on the CAN bus, satisfy system the more requirement of high real-time.
For addressing the above problem, adopt distributed system in the technical scheme of the present invention based on the CAN bus.Whole apery robot distributed dual-bus motion control system is made of 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.
Local bus described in the present invention is realized by the communication interface on the joint control.Described communication interface comprises serial communication interface, Serial Peripheral Interface (SPI), and multichannel buffer serial line interface.
Beneficial effect of the present invention shows: by increase local bus between joint control, can realize sharing of joint status information between these joint controls.Can be implemented in the calculating of finishing coupled relation between the joint freedom degrees in these joint controls by joint status information shared.Coordinated movement of various economic factors controller can no longer send by the CAN bus and receive the motion control instruction in each joint and only need send and receive acral track this moment, thereby reduce data quantity transmitted on the CAN bus greatly, satisfy system the more requirement of high real-time.
Beneficial effect of the present invention also shows by increase local bus between joint control, can realize sharing of sensing data between these joint controls.By sharing of sensing data between the joint control, can realize the collection and the compression of sensing data, thereby further reduce data quantity transmitted on the CAN bus.
Description of drawings
Fig. 1 is the structural representation of apery robot distributed dual-bus motion control system of the present invention.
Fig. 2 is the structural representation of embodiments of the invention 1.
Fig. 3 is the structural representation of embodiments of the invention 2.
Fig. 4 is the structural representation of embodiments of the invention 3.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.
Fig. 1 is the structural representation of apery robot distributed dual-bus motion control system of the present invention.As shown in Figure 1, apery robot distributed dual-bus motion control system of the present invention comprises coordinated movement of various economic factors controller, CAN bus, local bus and joint control.Coordinated movement of various economic factors controller links to each other with all joint controls by the CAN bus, and it is interconnected to pass through local bus between all or the part joint control.Local bus can adopt different topological structures according to the concrete condition of data communication or the number of joint control, and concrete grammar will be introduced in an embodiment in detail.
Embodiment 1 as shown in Figure 2.This kinetic control system is by coordinated movement of various economic factors controller among Fig. 2, the CAN bus, and local bus, joint control 1 and joint control 2 constitute.Coordinated movement of various economic factors controller links to each other with 2 with joint control 1 by the CAN bus, and it is interconnected that joint control 1 and 2 passes through local bus.Local bus is realized by the McBSP interface on the joint control 1 and 2.McBSP is the multichannel buffer serial line interface, and it can synchronized transmission and reception 8/16/32 Bits Serial data.Receive and transmit and all adopt independently clock and frame signal, its source, frequency and polarity etc. all can be programmed by the user, and support that at most 128 passages are used for transmitting and receiving.McBSP comprises data flow path and control path, is connected to external equipment by 6 holding wires.Data send by sending pin DX, receive pin DR and receive.Clock and frame synchronization control information are transmitted by tranmitting data register CLKX, receive clock CLKR, transmission frame synchronization FSX and the synchronous FSR pin of received frame respectively.Hardware aspect with pin DX, CLKX relevant on the joint control 1 and FSX with sending data respectively with joint control 2 on pin DR, the CLKR relevant with receiving data link to each other with FSR, with pin DX, CLKX relevant on the joint control 2 and FSX with sending data respectively with joint control 1 on the pin DR, the CLKR that are correlated with the reception data be connected with FSR.The software aspect is set to point-to-point communication modes with McBSP, thereby realizes interconnected between two joint controls.
Embodiment 2 as shown in Figure 3.This kinetic control system is by coordinated movement of various economic factors controller among Fig. 3, the CAN bus, and local bus, joint control 1, joint control 2 and joint control 3 constitute.Coordinated movement of various economic factors controller links to each other with 3 by CAN bus and all joint controls 1,2, and it is interconnected that joint control 1,2 and 3 passes through local bus.Local bus still adopts the McBSP interface on the joint control to realize.The joint control 1 that computational load is low weight is made as the master, with other all joint controls 2 and 3 be made as from.With pin DX, CLKX relevant on the main joint controller 1 and FSX with sending data respectively with joint control 2 and 3 on pin DR, the CLKR relevant with receiving data link to each other with FSR, with pin DX, CLKX relevant on the joint control 2 and 3 and FSX with sending data respectively with joint control 1 on the pin DR, the CLKR that are correlated with the reception data link to each other with FSR.Be connected into if desired more joint control initiate joint control can be made as from, pin relevant with sending data on it is linked to each other with the pin relevant with receiving data on the main joint controller 1 respectively, pin relevant with the reception data it on is linked to each other with the pin of being correlated with the transmission data on the main joint controller 1 respectively.Multi-channel mode is arranged to McBSP in the software aspect, thereby realizes interconnected between three or three the above joint controls.
Embodiment 3 as shown in Figure 4.This kinetic control system is by coordinated movement of various economic factors controller among Fig. 4, the CAN bus, and local bus, joint control 1, joint control 2 and joint control 3 constitute.Coordinated movement of various economic factors controller links to each other with 3 by CAN bus and joint control 1,2, joint control 1,2 and 3 interconnected by the local bus realization.Local bus still adopts the McBSP interface on the joint control to realize.Hardware aspect with pin relevant on the joint control 1 with sending data respectively with joint control 2 on receive the pin that data are correlated with and link to each other, pin relevant with sending data on the joint control 2 is linked to each other with the pin relevant with receiving data on the joint control 3 respectively, thereby with the pin of being correlated with the reception data on the pin difference joint control 1 relevant with sending data on the joint control 3 looping topological network that links to each other.Be connected into more joint control if desired, pin relevant with sending data on the joint control 3 can be gone up the pin relevant with receiving data with the control of initiate joint respectively and link to each other, pin relevant with sending data on the initiate joint control is linked to each other with the pin of being correlated with the reception data on the joint control 1 respectively.The software aspect is set to point-to-point communication modes with McBSP, thereby realizes interconnected between three or three the above joint controls.
In the process of implementing, thus embodiment 1,2 and 3 can be used in combination between some or all of joint control, realize interconnected.Local bus is except that adopting the realization of McBSP interface, also can adopt interface such as the SCI (serial communication interface) and the realization of SPI interfaces such as (Serial Peripheral Interface (SPI)s) of other types common on the joint control, the method for specific implementation and embodiment 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.
CNA200810038844XA 2008-06-12 2008-06-12 Apery robot distributed dual-bus motion control system CN101293350A (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101592951B (en) * 2009-07-02 2011-01-12 上海交通大学 Common distributed control system for humanoid robot
CN102139486A (en) * 2011-04-14 2011-08-03 上海交通大学 Control system for robot palletizer with self-maintenance function
CN102360190A (en) * 2011-08-18 2012-02-22 广东工业大学 Humanoid robot control system
CN102608969A (en) * 2012-03-02 2012-07-25 北京理工大学 Cascade robot hand and eye registration control method based on infrared optical alignment
CN103975316A (en) * 2012-06-15 2014-08-06 罗伯特·博世有限公司 Sensor arrangement for an electric/electronic architecture and associated electric/electronic architecture for a vehicle
CN104690726A (en) * 2014-08-29 2015-06-10 北京精密机电控制设备研究所 Motion control system for space manipulator
CN104827468A (en) * 2015-01-20 2015-08-12 上海优爱宝机器人技术有限公司 Robot distributed control system and method
CN108227530A (en) * 2018-01-08 2018-06-29 浙江立石机器人技术有限公司 A kind of kinetic control system and control method
CN110509277A (en) * 2019-09-03 2019-11-29 哈尔滨工业大学 A kind of robot movement-control system and robot

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101592951B (en) * 2009-07-02 2011-01-12 上海交通大学 Common distributed control system for humanoid robot
CN102139486A (en) * 2011-04-14 2011-08-03 上海交通大学 Control system for robot palletizer with self-maintenance function
CN102139486B (en) * 2011-04-14 2013-02-27 上海交通大学 Control system for robot palletizer with self-maintenance function
CN102360190A (en) * 2011-08-18 2012-02-22 广东工业大学 Humanoid robot control system
CN102608969A (en) * 2012-03-02 2012-07-25 北京理工大学 Cascade robot hand and eye registration control method based on infrared optical alignment
CN102608969B (en) * 2012-03-02 2014-04-23 北京理工大学 Cascade robot hand and eye registration control method based on infrared optical alignment
CN103975316A (en) * 2012-06-15 2014-08-06 罗伯特·博世有限公司 Sensor arrangement for an electric/electronic architecture and associated electric/electronic architecture for a vehicle
US9623818B2 (en) 2012-06-15 2017-04-18 Robert Bosch Gmbh Sensor system for an electric/electronic architecture and associated electric/electronic architecture for a vehicle
CN104690726A (en) * 2014-08-29 2015-06-10 北京精密机电控制设备研究所 Motion control system for space manipulator
CN104827468A (en) * 2015-01-20 2015-08-12 上海优爱宝机器人技术有限公司 Robot distributed control system and method
CN108227530A (en) * 2018-01-08 2018-06-29 浙江立石机器人技术有限公司 A kind of kinetic control system and control method
CN110509277A (en) * 2019-09-03 2019-11-29 哈尔滨工业大学 A kind of robot movement-control system and robot

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