CN102540982A - Motion control card and motion control method - Google Patents
Motion control card and motion control method Download PDFInfo
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- CN102540982A CN102540982A CN2011104577368A CN201110457736A CN102540982A CN 102540982 A CN102540982 A CN 102540982A CN 2011104577368 A CN2011104577368 A CN 2011104577368A CN 201110457736 A CN201110457736 A CN 201110457736A CN 102540982 A CN102540982 A CN 102540982A
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Abstract
The embodiment of the invention discloses a motion control card and a motion control method. The motion control card disclosed by the invention comprises a digital signal processor, an upper computer connecting module and an MIII bus module, wherein the upper computer connecting module is connected with the digital signal processor and an upper computer, and the MIII bus module is connected with the digital signal processor and a driver; and the digital signal processor obtains an analyzed motion control command from the upper computer through the upper computer connecting module and transmits the motion control command to the driver according to different states of the driver; or the digital signal processor receives the operating state information from the driver and transmits the operating state information to the upper computer; and the motion control card can be used for reducing the cost of a motion control system and increases the response speed and tracking accuracy of a robot.
Description
Technical field
The present invention relates to the mechanical automation technical field, particularly relate to a kind of motion control card and motion control method.
Background technology
Motion control card is a kind of based on PC or Industrial PC, is used for the control module of various motion control occasions, the control of for example displacement, speed, acceleration etc. being moved.Motion control card adopts professional motion control chip or high speed digital signal processor usually, and (digital signal processor DSP) as the motion control core, is used for control step motor or servomotor mostly.Usually; Motion control card and PC constitute the master slave control structure: the work of the management of PC responsible official machine interactive interface and the aspects such as real-time monitoring of control system, the for example demonstration of the management of keyboard and mouse, system state, movement locus planning, the transmission of steering order, monitoring of external signal or the like; Control card is accomplished all details of motion control, comprises the detection of the fast processing of output, the automatic lifting of pulse and direction signal, initial point and signal such as spacing etc.
Industrial robot is towards the multi-joint manipulator of industrial circle or multivariant robot.Industrial robot is the installations that automatically perform work, is to lean on self power and control ability to realize a kind of machine of various functions.It can accept human commander, also can be according to the program run of layout in advance.Existing industrial machine is to use motion control card to be connected with industrial computer per capita, and teaching machine is connected with industrial computer more then, and this connected mode has increased the link of industrial computer, makes that whole cost is higher; And motion control card of the prior art both need be resolved control command usually, moved the control algolithm of servomotor again, thereby made that the motion control card load is heavy, and overall operation speed is slow, and is untimely to fault processing.
Summary of the invention
The technical matters that the present invention mainly solves provides a kind of motion control card, and the motion control method that uses this motion control card also is provided, and can reduce the cost of kinetic control system.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is:
A kind of motion control card is characterized in that, this motion control card comprises:
Digital signal processor;
The host computer link block is used for being connected with digital signal processor and host computer;
The MIII bus module is used for being connected with digital signal processor and driver;
Wherein, digital signal processor obtains the motion control commands through resolving through the host computer link block from host computer, and according to the different conditions of driver this motion control commands is forwarded to driver; Perhaps digital signal processor receives from the running state information of driver and is forwarded to host computer.
A kind of motion control method is characterized in that, said method comprises:
The digital signal processor of motion control card receives the control command from host computer through the host computer link block, and according to the different conditions of driver this control command is forwarded in the driver; Perhaps
The digital signal processor of motion control card receives the running state information from driver through the MIII bus module, and is forwarded to host computer.
The invention has the beneficial effects as follows: the situation that is different from prior art; Motion control card among the present invention directly is connected through the host computer link block in this motion control card with host computer, and motion control card then is connected through the MIII bus module in this motion control card with driver; Thereby realize that in total framework of kinetic control system thereby motion control card directly is connected the intermediate equipment of having saved between motion control card and the host computer with host computer, has reduced the cost of kinetic control system.
Description of drawings
Fig. 1 is the structured flowchart of motion control card embodiment of the present invention;
Fig. 2 is another structured flowchart of motion control card embodiment of the present invention;
Fig. 3 is the logic diagram of DSP in the motion control card of the present invention
Fig. 4 is the structured flowchart of kinetic control system of the present invention;
Fig. 5 is another structured flowchart of kinetic control system of the present invention;
Fig. 6 is the data flow synoptic diagram of motion control method of the present invention.
Embodiment
Consult Fig. 1, Fig. 2 and Fig. 3, the embodiment of motion control card of the present invention comprises:
As shown in Figure 1, the motion control card 10 in the present embodiment comprises:
Host computer link block 102 is used for being connected with said digital signal processor and host computer;
MIII bus module 103 is used for being connected with said digital signal processor and driver;
Wherein, digital signal processor 101 obtains the motion control commands through resolving through host computer link block 102 from host computer, and according to the different conditions of driver this motion control commands is forwarded to driver; Perhaps digital signal processor 101 receptions also are transmitted to host computer with this running state information from the running state information of driver;
Host computer comprises teaching machine and/or industrial computer, and host computer link block 102 comprises USB functional module 1021 and/or PCI functional module 1022, and is as shown in Figure 2; USB functional module 1021 is used for being responsible for and being connected of teaching machine, and completion is from the transmission of the running state information of the order reception of teaching machine and driver; Can select the CY7C68013A chip for use in the USB functional module 1021, it is connected through EMIFA interface and GPIO mouth with digital signal processor, and a USB interface externally is provided, and teaching machine can directly use this USB interface to be connected with motion control card 10; PCI functional module 1022 is used for being responsible for and being connected of industrial computer, and completion is from the transmission of the running state information of the order reception of industrial computer and driver; Through the PCI/HPI interface of digital signal processor, external PCI connector is provided in the PCI functional module 1022, uses this external PCI connector can be connected in the PCI slot of IPC through three pci bus buffer memorys; In the present embodiment; Motion control card 10 provides respectively the USB functional module 1021 and PCI functional module 1022 that is connected with industrial computer with teaching machine; When reality connects; The user can select teaching machine and industrial computer one of them be connected, perhaps can select teaching machine all is connected with this motion control card 10 with industrial computer, do not limit here;
Motion control card in the present embodiment is a core with digital signal processor 101, for example can select the TMS320DM642 processor for use, does not limit here;
Further; Motion control card 10 in the present embodiment also comprises external memory area module 104; External memory area module 104 contains SDRAM and Flash; SDRAM is used for depositing the order and the running state information of digital signal processor and IPC or teaching machine, and through the EMIFA interface of digital signal processor SDRAM is mapped to the CE0 address space; Flash is used for depositing firmware program, realizes self-starting function, and through the EMIFA interface of digital signal processor Flash is mapped to the CE1 address space;
Further, the motion control card 10 in the present embodiment also comprises replacement module 105, and replacement module 105 is used for being responsible for the replacement to circuit, and replacement module 105 can be selected the TPS386000 chip for use, is connected to the Reset replacement interface of digital signal processor;
Further, the motion control card 10 in the present embodiment also comprises power module 106, and power module 106 can be selected the TPS54310 chip for use, is used for being responsible for to whole motion control card power supply being provided, and contains 1.2V, 1.4V, 1.8V, 3.3V and five kinds of voltages of 5V;
The control command that motion control card 10 is used for being responsible for host computer sends is forwarded to each driver, thereby makes each driver in time to respond the control command from host computer; Motion control card 10 also is used for being responsible for and will being transmitted to host computer from the running state information of each driver, so that upper function in time shows the state of each driver; The above-mentioned function of motion control card 10 is mainly accomplished through digital signal processor 101, and is concrete:
Upper machine communication module 1011, command process/state monitoring module 1012, MIII bus communication module 1013, MIII bus driver module 1014;
The flow process that the control command that digital signal processor 101 sends host computer is forwarded to each driver is concrete:
Upper machine communication module 1011 is used to realize and the communication of host computer 20, receives the control command after host computer 20 is resolved, and this control command is sent to command process/state monitoring module 1012;
Command process/state monitoring module 1012 receives the control command after the parsing that host computer sends through Upper machine communication module 1011 with the mode of poll; According to the different conditions of driver, this control command is forwarded in each driver through MIII bus communication module 1013 with the mode of interrupting;
MIII bus communication module 1013 receives the control command that command process/state monitoring modules 1012 send, and sends to MIII bus driver module 1014 after this control command encapsulated;
The control command through 1013 encapsulation of MIII bus communication module that MIII bus driver module 1014 will receive sends to the MIII Physical layer; Thereby make the MIII Physical layer that this control command is sent to driver, thereby driver is operated according to the control command that receives accordingly;
The flow process that the running state information that digital signal processor 101 sends driver is forwarded to host computer is concrete:
MIII bus driver module 1014 receives running state information and the decapsulation that driver sends, and again the running state information after the decapsulation is sent to MIII bus communication module 1013;
The running state information of the driver that MIII bus communication module 1013 reception MIII bus driver modules 1014 are sent is also resolved, and the running state information after will resolving again sends to command process/state monitoring module 1012;
Command process/state monitoring module 1012 obtains the running state information from each driver of MIII bus communication module 1013 with the mode of interrupting, and again running state information is sent to Upper machine communication module 1011;
Upper machine communication module 1011 receives the running state information of the driver of command process/state monitoring module 1012 transmissions, and this running state information is sent to host computer 20;
Further; Digital signal processor 101 also comprises fault processing module 1015, is used for when detecting driver malfunction, sends stop instruction initiatively for this driver; Thereby make driver to motor outage and stop the motion of robot, products for further is handled fault; When detecting communication failure, initiatively inside chip is resetted and connection again, if do not connect, just report communication failure to host computer, products for further band hardware is done to detect and is handled;
In the present embodiment, motion control card directly is connected through the host computer link block in this motion control card with host computer, and motion control card then is connected through the MIII bus module in this motion control card with driver; Thereby realize that in total framework of kinetic control system thereby motion control card directly is connected the intermediate equipment of having saved between motion control card and the host computer with host computer, has reduced the cost of kinetic control system; Further; Because it mainly is the position command that obtains each through interpolation algorithm that the control command of host computer is resolved, and the dominant frequency of the digital signal controller in the motion control card is lower, arithmetic speed is slow; Thereby directly caused the response speed of robot slow, tracking accuracy is low; And in the present embodiment; Motion control card mainly is responsible for the transmission of data between host computer and the driver; And parsing is not done in the order of host computer, let the host computer of dominant frequency height, fast operation come parsing is done in order, thereby improved response speed and tracking accuracy greatly.
See also Fig. 4, Fig. 5 and Fig. 6, the embodiment of motion control method of the present invention comprises:
301, the digital signal processor of motion control card receives the control command from host computer through the host computer link block, perhaps receives the running state information from driver through the MIII bus module;
302, the digital signal processor of motion control card is forwarded to the control command that receives in the driver according to the different conditions of driver, and the motion state information from driver that perhaps will receive is transmitted to host computer;
Wherein, digital signal processor receives the control command from host computer through the host computer link block, and according to the different conditions of driver the flow process that this control command is forwarded in the driver is specially:
Upper machine communication module receives the control command after host computer is resolved, and this control command is sent to command process/state monitoring module;
Command process/state monitoring module receives the control command after the parsing that host computer sends through Upper machine communication module with the mode of poll; According to the different conditions of driver, control command is forwarded in each driver through the MIII bus communication module with the mode of interrupting;
The MIII bus communication module receives the control command that said command process/state monitoring module is sent, and sends to MIII bus driver module after this control command encapsulated;
The control command through the encapsulation of MIII bus communication module that MIII bus driver module will receive sends to the MIII Physical layer, thereby makes said MIII Physical layer that said order is sent to driver;
Further, digital signal processor receives the running state information from driver through the MIII bus module, and the step that is forwarded to host computer is specially:
MIII bus driver module receives running state information and the decapsulation that driver sends, and again the running state information after the decapsulation is sent to the MIII bus communication module;
The MIII bus communication module receives the running state information of the driver that said MIII bus driver module sends and resolves, and the running state information after will resolving again sends to command process/state monitoring module;
Command process/state monitoring module obtains the running state information of each driver with the mode of interrupting, and again this running state information is sent to Upper machine communication module;
Upper machine communication module receives the running state information of the driver of command process/state monitoring module transmission, and this running state information is sent to host computer;
As shown in Figure 5; Motion control card 10 comprises: digital signal processor 101, the host computer link block 102 that is connected with digital signal processor 101 respectively, MIII bus module 103, external memory area module 104 and replacement module 105 and power module 106; Wherein, host computer link block 102 is used for being connected with host computer, and MIII bus module 103 is used for being connected with driver, and what the MIII bus module adopted is parallel bus;
As shown in Figure 6, further, host computer link block 102 comprises USB functional module 1021 and/or PCI functional module 1022; Host computer comprises teaching machine and/or industrial computer; Wherein, USB functional module 1021 is used to connect teaching machine, and PCI functional module 1022 is used to connect industrial computer;
Further, the motion control method that provides in the present embodiment also comprises: when detecting driver malfunction, digital signal processor initiatively sends stop instruction to driver, thereby makes this driver to the motor outage and stop the motion of robot; When detecting communication failure, initiatively inside chip is resetted and connection again;
In the motion control method of present embodiment; Host computer directly is connected with motion control card with driver; Being different from the prior art teaching machine must be connected with motion controller through industrial computer; Thereby can save the intermediate equipment industrial computer between motion control card and the teaching machine, reduce the cost of kinetic control system; Further; Because it mainly is the position command that obtains each through interpolation algorithm that the control command of host computer is resolved, and the dominant frequency of the digital signal controller in the motion control card is lower, arithmetic speed is slow; Thereby directly caused the response speed of robot slow, tracking accuracy is low; And in the present embodiment; Motion control card mainly is responsible for the transmission of data between host computer and the driver; And parsing is not done in the order of host computer; Let dominant frequency is high, the host computer of fast operation, teaching machine or industrial computer come parsing is done in order, thereby have improved response speed and tracking accuracy greatly.
See also Fig. 4 and Fig. 5, the embodiment of kinetic control system of the present invention is concrete:
As shown in Figure 4, the kinetic control system in the present embodiment comprises:
Data communication between motion control card 10, host computer 20 and driver 30 threes relates generally to the communication of PC control order and the communication of driver running state information;
Control command communication between motion control card 10, host computer 20 and driver 30 threes is concrete:
After motion control card 10 receives the control command of host computer 20 transmissions, control command is transmitted to driver 30;
Wherein, After motion control card 10 receives the control command of host computer 20 transmissions; The step that control command is transmitted to driver 30 is mainly accomplished through digital signal processor 101; Digital signal processor 101 comprises Upper machine communication module 1011, command process/state monitoring module 1012, MIII bus communication module 1013 and MIII bus driver module 1014; Concrete:
Upper machine communication module 1011 is used to realize and the communication of host computer 20, receives the control command after host computer 20 is resolved, and this control command is sent to command process/state monitoring module 1012;
Command process/state monitoring module 1012 receives the control command after the parsing that host computer 20 sends through Upper machine communication module 1011 with the mode of poll; According to the different conditions of driver, this control command is forwarded in each driver 30 through MIII bus communication module 1013 with the mode of interrupting;
MIII bus communication module 1013 receives the control command that command process/state monitoring modules 1012 send, and sends to MIII bus driver module 1014 after this control command encapsulated;
The control command through 1013 encapsulation of MIII bus communication module that MIII bus driver module 1014 will receive sends to the MIII Physical layer; Thereby make the MIII Physical layer that this control command is sent to driver 30, thereby driver is operated according to the control command that receives accordingly;
The communication of the running state information of the driver between motion control card 10, host computer 20 and driver 30 threes is concrete:
MIII bus driver module 1014 receives running state information and the decapsulation that driver sends, and again the running state information after the decapsulation is sent to MIII bus communication module 1013;
The running state information of the driver that MIII bus communication module 1013 reception MIII bus driver modules 1014 are sent is also resolved, and the running state information after will resolving again sends to command process/state monitoring module 1012;
Command process/state monitoring module 1012 obtains the running state information from each driver of MIII bus communication module 1013 with the mode of interrupting, and again running state information is sent to Upper machine communication module 1011;
Upper machine communication module 1011 receives the running state information of the driver of command process/state monitoring module 1012 transmissions, and this running state information is sent to host computer 20;
Further; Digital signal processor 101 also comprises fault processing module 1015, is used for when detecting driver malfunction, sends stop instruction initiatively for this driver; Thereby make driver to motor outage and stop the motion of robot, products for further is handled fault; When detecting communication failure, initiatively inside chip is resetted and connection again, if do not connect, just report communication failure to host computer, products for further band hardware is done to detect and is handled;
In the present embodiment, host computer 20 comprises teaching machine 201 and industrial computer 202, and host computer link block 102 comprises USB functional module 1021 and PCI functional module 1022, and is as shown in Figure 5; USB functional module 1021 is used for being responsible for and being connected of teaching machine, and completion is from the transmission of the running state information of the order reception of teaching machine and driver; Can select the CY7C68013A chip for use in the USB functional module 1021, it is connected through EMIFA interface and GPIO mouth with digital signal processor 101, and a USB interface externally is provided, and teaching machine can directly use this USB interface to be connected with motion control card 10; PCI functional module 1022 is used for being responsible for and being connected of industrial computer, and completion is from the transmission of the running state information of the order reception of industrial computer and driver; Through the PCI/HPI interface of digital signal processor, external PCI connector is provided in the PCI functional module 1022, uses this external PCI connector can be connected in the PCI slot of IPC through three pci bus buffer memorys; In the present embodiment; Motion control card 10 provides respectively the USB functional module 1021 and PCI functional module 1022 that is connected with industrial computer 202 with teaching machine 201; When reality connects; The user can select teaching machine and industrial computer one of them be connected, perhaps can select teaching machine all is connected with this motion control card 10 with industrial computer, do not limit here; And when user's selection all is connected teaching machine with industrial computer with this motion control card 10; Preferentially by the communication between teaching machine 201 processing and motion control card 10 and the driver 30; Perhaps can not limit preferentially by the communication between industrial computer 202 processing and motion control card 10 and the driver 30 here yet;
In the kinetic control system of present embodiment; Host computer directly is connected with motion control card with driver; Being different from the prior art teaching machine must be connected with motion controller through industrial computer; Thereby can save the intermediate equipment industrial computer between motion control card and the teaching machine, reduce the cost of kinetic control system; Further; Because it mainly is the position command that obtains each through interpolation algorithm that the control command of host computer is resolved, and the dominant frequency of the digital signal controller in the motion control card is lower, arithmetic speed is slow; Thereby directly caused the response speed of robot slow, tracking accuracy is low; And in the present embodiment; Motion control card mainly is responsible for the transmission of data between host computer and the driver; And parsing is not done in the order of host computer; Let dominant frequency is high, the host computer of fast operation, teaching machine or industrial computer come parsing is done in order, thereby have improved response speed and tracking accuracy greatly.
The above is merely embodiments of the invention; Be not so limit claim of the present invention; Every equivalent structure or equivalent flow process conversion that utilizes instructions of the present invention and accompanying drawing content to be done; Or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (10)
1. a motion control card is characterized in that, said motion control card comprises:
Digital signal processor;
The host computer link block is used for being connected with said digital signal processor and host computer;
The MIII bus module is used for being connected with said digital signal processor and driver;
Wherein, said digital signal processor obtains the motion control commands through resolving through the host computer link block from said host computer, and according to the different conditions of driver said motion control commands is forwarded to said driver; Perhaps said digital signal processor receives from the running state information of driver and is forwarded to said host computer.
2. motion control card according to claim 1 is characterized in that, said host computer link block comprises USB functional module and/or PCI functional module; Said host computer comprises teaching machine and/or industrial computer; Said USB functional module is used to connect said teaching machine, and said PCI functional module is used to connect said industrial computer.
3. motion control card according to claim 1 is characterized in that, said digital signal processor comprises:
Upper machine communication module is used to receive the control command after host computer is resolved, and said control command is sent to command process/state monitoring module;
Command process/state monitoring module; The mode with poll of being used for receives the control command after the parsing that host computer sends through Upper machine communication module; According to the different conditions of driver, said control command is forwarded in each driver through the MIII bus communication module with the mode of interrupting;
The MIII bus communication module is used to receive the control command that said command process/state monitoring module sends, and sends to MIII bus driver module after said control command encapsulated;
MIII bus driver module is used for the control command through the encapsulation of MIII bus communication module that receives is sent to the MIII Physical layer, thereby makes said MIII Physical layer that said control command is sent to driver.
4. motion control card according to claim 3 is characterized in that,
Said Upper machine communication module also is used to receive the running state information of the driver that said command process/state monitoring module sends, and said running state information is sent to host computer;
Said command process/state monitoring module also is used for obtaining the running state information from each driver of MIII bus communication module with the mode of interrupting, and more said running state information is sent to said Upper machine communication module;
Said MIII bus communication module also is used to receive the running state information of the driver that said MIII bus driver module sends and resolves, and the running state information after will resolving again sends to said command process/state monitoring module;
Said MIII bus driver module also is used to receive running state information and the decapsulation that driver sends, and again the running state information after the decapsulation is sent to the MIII bus communication module.
5. motion control card according to claim 3 is characterized in that, said digital signal processor also comprises:
Fault processing module is used for when detecting driver malfunction, sends stop instruction initiatively for said driver, thereby makes said driver to the motor outage and stop the motion of robot; When detecting communication failure, initiatively inside chip is resetted and connection again.
6. a motion control method is characterized in that, said method comprises:
The digital signal processor of said motion control card receives the control command from host computer through the host computer link block, and according to the different conditions of driver said control command is forwarded in the driver; Perhaps
The digital signal processor of said motion control card receives the running state information from driver through the MIII bus module, and is forwarded to said host computer.
7. control method according to claim 6 is characterized in that, said host computer link block comprises USB functional module and/or PCI functional module; Said host computer comprises teaching machine and/or industrial computer; Said USB functional module is used to connect said teaching machine, and said PCI functional module is used to connect said industrial computer.
8. control method according to claim 7; It is characterized in that; Said digital signal processor receives the control command from host computer through the host computer link block, and according to the different conditions of driver said control command is forwarded in the driver, is specially:
Upper machine communication module receives the control command after host computer is resolved, and said control command is sent to command process/state monitoring module;
Command process/state monitoring module receives the control command after the parsing that host computer sends through Upper machine communication module with the mode of poll; According to the different conditions of driver, said control command is forwarded in each driver through the MIII bus communication module with the mode of interrupting;
The MIII bus communication module receives the control command that said command process/state monitoring module is sent, and sends to MIII bus driver module after said control command encapsulated;
The control command through the encapsulation of MIII bus communication module that MIII bus driver module will receive sends to the MIII Physical layer, thereby makes said MIII Physical layer that said order is sent to driver.
9. control method according to claim 8 is characterized in that, said digital signal processor receives the running state information from driver through the MIII bus module, and is forwarded to said host computer, is specially:
MIII bus driver module receives running state information and the decapsulation that driver sends, and again the running state information after the decapsulation is sent to the MIII bus communication module;
The MIII bus communication module receives the running state information of the driver that said MIII bus driver module sends and resolves, and the running state information after will resolving again sends to said command process/state monitoring module;
Command process/state monitoring module obtains the running state information of each driver with the mode of interrupting, and more said running state information is sent to said Upper machine communication module;
Upper machine communication module receives the running state information of the driver of said command process/state monitoring module transmission, and said running state information is sent to host computer.
10. control method according to claim 8; It is characterized in that; Said motion control method also comprises: when detecting driver malfunction, digital signal processor sends stop instruction initiatively for said driver, thereby makes said driver to the motor outage and stop the motion of robot; When detecting communication failure, initiatively inside chip is resetted and connection again.
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| CN103365228A (en) * | 2013-07-05 | 2013-10-23 | 华南理工大学 | Time-sharing control system with motion controller |
| CN103645730A (en) * | 2013-12-09 | 2014-03-19 | 成都乐创自动化技术股份有限公司 | Motion control card with self-checking function and detection method |
| CN103645730B (en) * | 2013-12-09 | 2016-01-13 | 成都乐创自动化技术股份有限公司 | A kind of motion control card with self-checking function and detection method |
| CN104683335A (en) * | 2015-02-11 | 2015-06-03 | 北京配天技术有限公司 | Modbus-Mechatrolink III protocol conversion device and protocol conversion method thereof |
| CN104808591A (en) * | 2015-02-27 | 2015-07-29 | 张锐 | Robot system for glass fiber pulling and control method |
| JPWO2016142999A1 (en) * | 2015-03-06 | 2017-12-14 | 富士機械製造株式会社 | Multiplexed communication system and work machine |
| CN114559428A (en) * | 2015-09-01 | 2022-05-31 | 伯克希尔格雷营业股份有限公司 | System and method for providing a dynamic robot control system |
| CN114559428B (en) * | 2015-09-01 | 2023-10-27 | 伯克希尔格雷营业股份有限公司 | System and method for providing a dynamic robot control system |
| CN108646649A (en) * | 2018-07-31 | 2018-10-12 | 深圳市山龙智控有限公司 | A kind of closed loop control method and closed-loop control device |
| CN109542082A (en) * | 2018-11-15 | 2019-03-29 | 中铁第四勘察设计院集团有限公司 | A kind of train water robot fault-tolerant control system and method |
| CN113534746A (en) * | 2020-04-21 | 2021-10-22 | 国奥科技(深圳)有限公司 | Motion control card based on 5G communication, control method thereof and drive control system |
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