CN104827468A - Robot distributed control system and method - Google Patents
Robot distributed control system and method Download PDFInfo
- Publication number
- CN104827468A CN104827468A CN201510027582.7A CN201510027582A CN104827468A CN 104827468 A CN104827468 A CN 104827468A CN 201510027582 A CN201510027582 A CN 201510027582A CN 104827468 A CN104827468 A CN 104827468A
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- controller
- instruction
- control instruction
- control
- drive unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention relates to a robot distributed control system. The robot distributed control system includes an upper computer and actuators arranged on moving positions; each actuator includes a controller and a driving device; and the controller receives an instruction issued by the upper computer and controls the driving device to complete an instruction action. According to the robot distributed control system, each rotatable actuator is provided with the independent controller and the driving device; each independent controller communicates with the upper computer and receives the control instruction issued by the upper computer and independently controls the driving device to complete operation according to the control instruction.
Description
Technical field
The present invention relates to a kind of dcs and method thereof, especially relate to a kind of robot distributed control system and method thereof.
Background technology
The control system of current robot, usually by the drive motors of a multiple executing agency of main controller controls, completes the collaborative work between multiple executing agency.In order to realize the control of one-to-many, have all control instructions between master controller and executing agency all to preserve in the host controller, at operating mode complex condition, cause the load of master controller very large, if a certain executing agency of robot breaks down and fault part temporarily cannot be repaired time, remain in operation to enable integral device, technical staff needs to modify to the control instruction in master controller, change the control instruction of other executing agencies, thus walk around failure mechanism and complete final Action Target.In the face of being all stored in the magnanimity control instruction in master controller, this significantly increases the risk that the working strength of technical staff and change control instruction bring.
Summary of the invention
Object of the present invention: aim to provide a kind of have compared with high fault tolerance can robot distributed control system and method.
This robot distributed control system, comprise host computer and the executing agency being arranged on motive position, it is characterized in that: described executing agency comprises independent control and independent driving device, independent control receives the instruction that sends of host computer and accessory drive completes instruction action.
Described independent control is made up of core controller and customer controller two parts, and described core controller is used for upper machine communication and to drive unit sending controling instruction, and described customer controller is for storing the control instruction of other executing agencies.
A kind of robot distributed control method, is characterized in that: its step is as follows:
Step one, by the control instruction of host computer to the corresponding drive unit of core controller difference typing, described control instruction comprises time parameter, displacement parameter and speed parameter;
Step 2, control instruction is sent to drive unit by controller, and drive unit drives whole executing agency according to preset instructions self-movement according to control instruction, thus forms the coordinated movement of various economic factors of whole system.
Step 3, user modifies to control instruction by customer controller.
The central controlled system of master controller is had compared to traditional, this dcs is provided with independently controller and drive unit in each executing agency operated, each independent control all can with upper machine communication, receive the control instruction that issues of host computer and also fulfil assignment according to control instruction independence accessory drive.When needing the amendment robot method of operation, host computer only need be used to connect the controller of respective action executing agency, the control instruction that amendment is corresponding, without the need to finding dependent instruction to modify from the magnanimity control instruction of master controller in the past, greatly reduces labour intensity again.And control instruction is pulled one hair and move the whole body, the control instruction revising a certain executing agency targetedly can avoid mistake to produce as far as possible.
Accompanying drawing explanation
Fig. 1 is system architecture schematic diagram of the present invention
Detailed description of the invention
We further describe in detail this robot distributed control system with concrete example by reference to the accompanying drawings below.
This robot distributed control system, comprise host computer and the executing agency being arranged on motive position, it is characterized in that: described executing agency comprises independent control and independent driving device, independent control receives the instruction that sends of host computer and accessory drive completes instruction action.
Described controller is made up of core controller and customer controller two parts, and described core controller is used for upper machine communication and to drive unit sending controling instruction, and described customer controller is for storing the control instruction of other executing agencies.
A kind of robot distributed control method, is characterized in that: its step is as follows:
Step one, by the control instruction of host computer to the corresponding drive unit of core controller difference typing, described control instruction comprises time parameter, displacement parameter and speed parameter;
Step 2, control instruction is sent to drive unit by controller, and drive unit drives whole executing agency according to preset instructions self-movement according to control instruction, thus forms the coordinated movement of various economic factors of whole system.
Step 3, user modifies to control instruction by customer controller.
Artificially routine with common industrial machine, the industrial robot on production line is in series by multiple mechanical arm usually, is connected between adjacent machine arm by turning joint.Each turning joint is provided with independently controller, host computer is respectively to the first controller, second controller and the n-th controller input control order, now, the drive unit that first controller, second controller and the n-th controller control the turning joint of respective place respectively drives respective executing agency to move according to time parameter, displacement parameter and the speed parameter preset, and the system cloud gray model that each turning joint forms whole mechanical arm under the control of each self-controller reaches required work object.
If wherein certain turning joint damages and need replace, owing to storing the control instruction of other controllers in customer controller, can from the controller at other unspoiled turning joint places, read the control instruction of damage equipment and control instruction is directly input in independent control corresponding to replacement equipment.Or automatically learnt the control instruction of former faulty equipment from neighbouring device according to device id by replacement equipment.The mode of this control instruction distributed storage can the security of effective guarantee control instruction, control instruction will be caused to lose because of device damage, also for reverting equipment as early as possible effectively runs the condition of creating.
In addition, if faulty equipment cannot obtain maintain and replace in time, in order to be unlikely to make whole periods of robot operation stop, user also can reprogram its control instruction of adjustment to the controller of the turning joint of normal work, the time of revising this turning joint comprehends, displacement parameter and speed parameter, changes its movement locus, utilize the existing turning joint that can normally work with this, realize original moving target, the impact in failure activities joint is down to minimum.
Claims (3)
1. a robot distributed control system, comprise host computer and the executing agency being arranged on motive position, it is characterized in that: described executing agency comprises independent control and independent driving device, independent control receives the instruction that sends of host computer and accessory drive completes instruction action.
2. a kind of robot distributed control system as claimed in claim 1, it is characterized in that: described controller is made up of core controller and customer controller two parts, described core controller is used for upper machine communication and to drive unit sending controling instruction, and described customer controller is for storing the control instruction of other executing agencies.
3. a robot distributed control method, is characterized in that: its step is as follows:
Step one, by the control instruction of host computer to the corresponding drive unit of core controller difference typing, described control instruction comprises time parameter, displacement parameter and speed parameter;
Step 2, control instruction is sent to drive unit by controller, and drive unit drives whole executing agency according to preset instructions self-movement according to control instruction, thus forms the coordinated movement of various economic factors of whole system.
Step 3, user modifies to control instruction by customer controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510027582.7A CN104827468A (en) | 2015-01-20 | 2015-01-20 | Robot distributed control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510027582.7A CN104827468A (en) | 2015-01-20 | 2015-01-20 | Robot distributed control system and method |
Publications (1)
| Publication Number | Publication Date |
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| CN104827468A true CN104827468A (en) | 2015-08-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510027582.7A Pending CN104827468A (en) | 2015-01-20 | 2015-01-20 | Robot distributed control system and method |
Country Status (1)
| Country | Link |
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| CN (1) | CN104827468A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729470A (en) * | 2016-05-06 | 2016-07-06 | 广东戈兰玛汽车系统有限公司 | Hybrid robot control device |
| CN106695845A (en) * | 2015-11-13 | 2017-05-24 | 上海优爱宝机器人技术有限公司 | Control method for electronic control system of robot |
| CN106881714A (en) * | 2015-12-15 | 2017-06-23 | 上海优爱宝机器人技术有限公司 | A kind of control system of SCARA robots and the robot of the system is installed |
| CN109308041A (en) * | 2017-07-26 | 2019-02-05 | 合肥欣奕华智能机器有限公司 | A kind of control system, haulage equipment and the production line of display base plate haulage equipment |
| CN112894764A (en) * | 2019-12-03 | 2021-06-04 | 台达电子工业股份有限公司 | Robot system and robot control method |
| CN114237175A (en) * | 2021-12-01 | 2022-03-25 | 北京福田戴姆勒汽车有限公司 | Monitoring system and monitoring method for vehicle manufacturing assembly workshop equipment |
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| JP2004181543A (en) * | 2002-11-29 | 2004-07-02 | Nachi Fujikoshi Corp | Industrial robot and method for judging its abnormality |
| CN1586829A (en) * | 2004-07-29 | 2005-03-02 | 上海交通大学 | Plug-and-play mechanical arm system based on distributive control |
| CN101293350A (en) * | 2008-06-12 | 2008-10-29 | 上海交通大学 | Apery robot distributed dual-bus motion control system |
| CN103454945A (en) * | 2013-07-03 | 2013-12-18 | 河海大学常州校区 | Distributed motion control system of leg type walking robot |
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2015
- 2015-01-20 CN CN201510027582.7A patent/CN104827468A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004181543A (en) * | 2002-11-29 | 2004-07-02 | Nachi Fujikoshi Corp | Industrial robot and method for judging its abnormality |
| CN1586829A (en) * | 2004-07-29 | 2005-03-02 | 上海交通大学 | Plug-and-play mechanical arm system based on distributive control |
| CN101293350A (en) * | 2008-06-12 | 2008-10-29 | 上海交通大学 | Apery robot distributed dual-bus motion control system |
| CN103454945A (en) * | 2013-07-03 | 2013-12-18 | 河海大学常州校区 | Distributed motion control system of leg type walking robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695845A (en) * | 2015-11-13 | 2017-05-24 | 上海优爱宝机器人技术有限公司 | Control method for electronic control system of robot |
| CN106881714A (en) * | 2015-12-15 | 2017-06-23 | 上海优爱宝机器人技术有限公司 | A kind of control system of SCARA robots and the robot of the system is installed |
| CN105729470A (en) * | 2016-05-06 | 2016-07-06 | 广东戈兰玛汽车系统有限公司 | Hybrid robot control device |
| CN105729470B (en) * | 2016-05-06 | 2018-03-09 | 广东戈兰玛汽车系统有限公司 | A kind of serial-parallel machining robot control device |
| CN109308041A (en) * | 2017-07-26 | 2019-02-05 | 合肥欣奕华智能机器有限公司 | A kind of control system, haulage equipment and the production line of display base plate haulage equipment |
| CN112894764A (en) * | 2019-12-03 | 2021-06-04 | 台达电子工业股份有限公司 | Robot system and robot control method |
| US11613011B2 (en) | 2019-12-03 | 2023-03-28 | Delta Electronics, Inc. | Mechanical arm system and mechanical arm control method |
| CN114237175A (en) * | 2021-12-01 | 2022-03-25 | 北京福田戴姆勒汽车有限公司 | Monitoring system and monitoring method for vehicle manufacturing assembly workshop equipment |
| CN114237175B (en) * | 2021-12-01 | 2023-11-17 | 北京福田戴姆勒汽车有限公司 | Monitoring system and monitoring method for vehicle manufacturing assembly workshop equipment |
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Application publication date: 20150812 |
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| RJ01 | Rejection of invention patent application after publication |