CN102087519A - Robot motion control system based on NIcompactRIO (cRIO) embedded controller - Google Patents
Robot motion control system based on NIcompactRIO (cRIO) embedded controller Download PDFInfo
- Publication number
- CN102087519A CN102087519A CN2009101999430A CN200910199943A CN102087519A CN 102087519 A CN102087519 A CN 102087519A CN 2009101999430 A CN2009101999430 A CN 2009101999430A CN 200910199943 A CN200910199943 A CN 200910199943A CN 102087519 A CN102087519 A CN 102087519A
- Authority
- CN
- China
- Prior art keywords
- crio
- embedded controller
- control system
- controller
- motion control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- Y02P80/114—
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a robot motion control system based on a NIcompactRIO (cRIO) embedded controller, which is characterized by comprising a central controller, a left mechanical arm system, a right mechanical arm system, an upper computer and a laser radar which are connected with an Ethernet of the central controller respectively, and a head motor system, a seat probing sensor, light-emitted diode (LED) lamplight, a handle jointed arm and a movable base plate motor system which are connected with the central controller respectively in a digital/analog input/output (IO) mode. In the robot motion control system, the adopted cRIO embedded controller is an industrial embedded controller, has a small size and powerful functions, is stable, reliable and low in power consumption (24VDC 20WMAX), and is particularly suitable to be used as onboard central controllers of movable robots. In the control system, the stability and reliability of the motion control of the robots can be ensured by adopting the cRIO embedded controller.
Description
Technical field
The present invention relates to a kind of ROBOT CONTROL system, relate in particular to a kind of robot movement-control system based on cRIO (full name is NICompactRIO, hereinafter to be referred as cRIO) controller.
Background technology
In the prior art, the kinetic control system kind of robot is a lot, but the core of existing control system---central controller, have that volume is big, function is more single, the shortcoming of less stable, there is very big defective in the reliability that causes the robot motion to control, therefore seeking little, the powerful and reliable and stable central controller of a kind of volume forms the robot movement-control system, is one of urgent problem in robot design now and the manufacturing.
Summary of the invention
Purpose of the present invention provides a kind of robot movement-control system based on the cRIO embedded controller exactly in order to address the above problem, adopt the cRIO embedded controller can realize robot motion's reliable control.
The object of the present invention is achieved like this: a kind of robot movement-control system based on the cRIO embedded controller, it is characterized in that, comprise central controller, the left mechanical arm system that is connected with the central controller Ethernet respectively, right mechanical arm system, host computer, laser radar, respectively head electric system, seat acquisition sensor, LED light, handle rocking bar, the mobile chassis electric system that is connected with described central controller digital quantity or analog quantity IO mode.
Among the above-mentioned robot movement-control system based on the cRIO embedded controller, described central controller is the cRIO embedded controller.
The present invention is compared with prior art: the cRIO embedded controller is a built-in industrial level controller, has little, powerful, the highly stable reliable and low-power consumption (24VDC 20WMAX) of volume, be suitable as very much mobile robot's airborne central controller, it is reliable and stable that control system of the present invention adopts the cRIO embedded controller can guarantee that the robot motion controls.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Embodiment
Referring to Fig. 1, the present invention is based on the robot movement-control system of cRIO embedded controller, be used for the motion control of household service robot that can be manned, this household service robot has wheelchair pattern and robot pattern, described control system comprises cRIO embedded controller 1 (being central controller), the left mechanical arm system that is connected with cRIO embedded controller 1 Ethernet respectively, right mechanical arm system, host computer, laser radar, the head electric system that is connected with described cRIO embedded controller 1 digital quantity or analog quantity IO mode respectively, the seat acquisition sensor, LED light, handle rocking bar and mobile chassis electric system.
In above-mentioned robot movement-control system based on the cRIO embedded controller, described left and right mechanical arm sends movement instruction by the cRIO embedded controller, can do various gestures, the article etc. of can taking;
Described host computer will provide the instruction on upper strata to the cRIO embedded controller, realize man-machine interaction or monitoring and management that miscellaneous equipment is controlled;
The analog signals that described head electric system sends by the cRIO embedded controller is controlled the rotation of head;
Whether described seat acquisition sensor can will have people's judgement to import the cRIO embedded controller into;
The instruction that described LED light is accepted the cRIO embedded controller comes the indication equipment state, robot expression etc.;
The distant bar energy of described handle acceptor's operational motion, to cRIO embedded controller transmission two-dimensional analog amount signal, thereby the manual control device moves when the wheelchair pattern;
Described laser radar helps navigation algorithm to realize location and navigation for the cRIO embedded controller by ICP/IP protocol transmission ambient condition information; Described mobile chassis electric system comes realization equipment to move by the navigation instruction information that receives the cRIO embedded controller, and passes left and right sides encoder values back the cRIO embedded controller;
Above embodiment is only for the usefulness that the present invention is described, but not limitation of the present invention, person skilled in the relevant technique, under the situation that does not break away from the spirit and scope of the present invention, can also make various conversion or modification, therefore all technical schemes that are equal to also should belong to category of the present invention, should be limited by each claim.
Claims (2)
1. robot movement-control system based on the cRIO embedded controller, it is characterized in that, comprise central controller, the left mechanical arm system that is connected with the central controller Ethernet respectively, right mechanical arm system, host computer, laser radar, respectively head electric system, seat acquisition sensor, LED light, handle rocking bar, the mobile chassis electric system that is connected with described central controller digital quantity or analog quantity IO mode.
2. according to claim 1 based on the robot movement-control system of cRIO embedded controller, it is characterized in that described central controller is the cRIO embedded controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101999430A CN102087519A (en) | 2009-12-04 | 2009-12-04 | Robot motion control system based on NIcompactRIO (cRIO) embedded controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009101999430A CN102087519A (en) | 2009-12-04 | 2009-12-04 | Robot motion control system based on NIcompactRIO (cRIO) embedded controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102087519A true CN102087519A (en) | 2011-06-08 |
Family
ID=44099359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009101999430A Pending CN102087519A (en) | 2009-12-04 | 2009-12-04 | Robot motion control system based on NIcompactRIO (cRIO) embedded controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102087519A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106681316A (en) * | 2016-10-31 | 2017-05-17 | 河池学院 | Interactive robot |
| CN108828556A (en) * | 2018-07-12 | 2018-11-16 | 北京大汉正源科技有限公司 | laser radar control system |
-
2009
- 2009-12-04 CN CN2009101999430A patent/CN102087519A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106681316A (en) * | 2016-10-31 | 2017-05-17 | 河池学院 | Interactive robot |
| CN108828556A (en) * | 2018-07-12 | 2018-11-16 | 北京大汉正源科技有限公司 | laser radar control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106707888B (en) | Programmable control module and system, control method with the control module | |
| CN201552585U (en) | Robot motion control system based on cRIO controller | |
| CN102615638B (en) | Master-slave hydraulic mechanical arm system of high-voltage hot-line operation robot | |
| CN102085664B (en) | Autonomous operation forestry robot intelligent control system | |
| CN103439935B (en) | A kind of underwater robot control system based on state machine model | |
| CN102615646B (en) | Master-slave hydraulic mechanical arm controller | |
| CN206578809U (en) | A kind of indoor mobile robot system positioned based on RFID | |
| CN203077287U (en) | Master-slave mode hydraulic pressure feedback mechanical arm controlling system of charged repair robot | |
| CN101138843A (en) | Intelligent independent robot core controller | |
| CN204891215U (en) | Toy based on discernment of gesture orbit | |
| CN102087519A (en) | Robot motion control system based on NIcompactRIO (cRIO) embedded controller | |
| CN103056883B (en) | Double-manipulator coordination control system and double-manipulator coordination control method | |
| CN202056383U (en) | Intelligent actuator for controlling valve of alternating current machine | |
| Zhaohui et al. | Development of an intelligent interaction service robot using ROS | |
| CN201754241U (en) | Embedded valve remote control device | |
| CN205375072U (en) | Independent multi -axis motion controller | |
| CN204010487U (en) | A kind of position control teaching experiment platform | |
| CN108994847A (en) | A kind of robot | |
| CN104991474A (en) | Mining intrinsic safety type remote controller | |
| CN202837952U (en) | Intelligent control device for non-beam pumping unit | |
| CN203178783U (en) | Temperature and humidity environment monitoring system for live working instrument storehouse | |
| CN202075605U (en) | Local area network type intelligent automatic step control device of CAN (controller area network) field bus structure | |
| CN204203767U (en) | A kind of intelligent inspection robot | |
| CN203658796U (en) | Multi-axis movement control system development platform | |
| CN104635523A (en) | Non-contact power supply type feeding and discharging system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20110608 |