CN104903800A - 运动控制器和使用这种运动控制器的机器人控制系统 - Google Patents

运动控制器和使用这种运动控制器的机器人控制系统 Download PDF

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Publication number
CN104903800A
CN104903800A CN201380069454.8A CN201380069454A CN104903800A CN 104903800 A CN104903800 A CN 104903800A CN 201380069454 A CN201380069454 A CN 201380069454A CN 104903800 A CN104903800 A CN 104903800A
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CN
China
Prior art keywords
information
motion controller
robot
applicable
functional module
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
Application number
CN201380069454.8A
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English (en)
Chinese (zh)
Inventor
萨义德·萨尔莱
张斐泓
张毅成
苏承平
马博军
杨超
张晖
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ABB Technology AG
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ABB T&D Technology AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by ABB T&D Technology AG filed Critical ABB T&D Technology AG
Publication of CN104903800A publication Critical patent/CN104903800A/zh
Pending legal-status Critical Current

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Classifications

    • 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
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4148—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using several processors for different functions, distributed (real-time) systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33076—Optimize time by parallel execution of independent blocks by two processors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33104—Tasks, functions are distributed over different cpu
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33116—Configuration of motion control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34208—Motion controller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34287—Plc and motion controller combined
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34403—RTI real time, kernel, processing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40498—Architecture, integration of planner and motion controller

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • General Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
CN201380069454.8A 2013-01-17 2013-01-17 运动控制器和使用这种运动控制器的机器人控制系统 Pending CN104903800A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2013/070581 WO2014110748A1 (en) 2013-01-17 2013-01-17 Motion controller and robot control system using the same

Publications (1)

Publication Number Publication Date
CN104903800A true CN104903800A (zh) 2015-09-09

Family

ID=51208937

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201380069454.8A Pending CN104903800A (zh) 2013-01-17 2013-01-17 运动控制器和使用这种运动控制器的机器人控制系统

Country Status (3)

Country Link
EP (1) EP2946253A4 (de)
CN (1) CN104903800A (de)
WO (1) WO2014110748A1 (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107479506A (zh) * 2017-09-04 2017-12-15 深圳市超时空机器人有限公司 一种基于机器人的数控装置、系统及加工方法
CN108052063A (zh) * 2017-12-18 2018-05-18 珠海格力节能环保制冷技术研究中心有限公司 控制系统、控制芯片及机器人
CN109240191A (zh) * 2018-04-25 2019-01-18 上海福赛特控制技术有限公司 集成运动控制和电机控制的控制器和控制系统
WO2019218324A1 (zh) * 2018-05-17 2019-11-21 深圳配天智能技术研究院有限公司 用于机器人的编码器、驱动器、控制器及机器人

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106227097B (zh) * 2016-08-25 2018-11-30 常州市翔云智能控制系统有限公司 多总线多轴运动控制器
CN107571241A (zh) * 2017-09-04 2018-01-12 深圳市超时空机器人有限公司 一种双臂机器人及其控制方法
CN110340872A (zh) * 2019-07-15 2019-10-18 赵智泉 穿戴式遥控机器人及控制方法
CN111421547A (zh) * 2020-04-13 2020-07-17 深圳市强华科技发展有限公司 一种工业机器人控制系统及其控制方法
CN113720595B (zh) * 2021-09-02 2024-06-04 上海桥田智能设备有限公司 一种应用于工具快换装置功能检测系统及方法

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US5042004A (en) * 1986-03-06 1991-08-20 Advanced Micro Devices, Inc. Programmable logic device with subroutine stack and random access memory
US7327396B2 (en) * 2002-04-10 2008-02-05 National Instruments Corporation Smart camera with a plurality of slots for modular expansion capability through a variety of function modules connected to the smart camera
CN101286058A (zh) * 2008-04-24 2008-10-15 上海交通大学 机器人模块化分布式自适应控制系统及方法
CN102289217A (zh) * 2011-02-25 2011-12-21 广西大学 一种以轴为单位模块化可重构的运动控制系统
CN102349031A (zh) * 2009-03-13 2012-02-08 Abb技术有限公司 用于部分地由实现运行时过程的一个或者多个计算机实现的过程控制系统中的控制的方法
CN102528809A (zh) * 2010-11-05 2012-07-04 佳能株式会社 机器人控制设备
CN102860036A (zh) * 2010-04-30 2013-01-02 Abb技术有限公司 用于在空间上扩展的供应网络中传输测量信号的设备与方法
CN102880064A (zh) * 2011-07-13 2013-01-16 库卡罗伯特有限公司 机器人控制装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1835699A1 (de) * 2006-03-17 2007-09-19 ABB PATENT GmbH Robotersteuerung
US20090132057A1 (en) * 2007-11-20 2009-05-21 Abb Research Ltd. Control system for controlling the movements of a plurality of mechanical units
EP2470991A1 (de) * 2009-08-24 2012-07-04 ABB Technology AG Verbesserte ausführung von echtzeitanwendungen mit einer automationssteuerung

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5042004A (en) * 1986-03-06 1991-08-20 Advanced Micro Devices, Inc. Programmable logic device with subroutine stack and random access memory
US7327396B2 (en) * 2002-04-10 2008-02-05 National Instruments Corporation Smart camera with a plurality of slots for modular expansion capability through a variety of function modules connected to the smart camera
CN101286058A (zh) * 2008-04-24 2008-10-15 上海交通大学 机器人模块化分布式自适应控制系统及方法
CN102349031A (zh) * 2009-03-13 2012-02-08 Abb技术有限公司 用于部分地由实现运行时过程的一个或者多个计算机实现的过程控制系统中的控制的方法
CN102860036A (zh) * 2010-04-30 2013-01-02 Abb技术有限公司 用于在空间上扩展的供应网络中传输测量信号的设备与方法
CN102528809A (zh) * 2010-11-05 2012-07-04 佳能株式会社 机器人控制设备
CN102289217A (zh) * 2011-02-25 2011-12-21 广西大学 一种以轴为单位模块化可重构的运动控制系统
CN102880064A (zh) * 2011-07-13 2013-01-16 库卡罗伯特有限公司 机器人控制装置

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107479506A (zh) * 2017-09-04 2017-12-15 深圳市超时空机器人有限公司 一种基于机器人的数控装置、系统及加工方法
CN108052063A (zh) * 2017-12-18 2018-05-18 珠海格力节能环保制冷技术研究中心有限公司 控制系统、控制芯片及机器人
CN109240191A (zh) * 2018-04-25 2019-01-18 上海福赛特控制技术有限公司 集成运动控制和电机控制的控制器和控制系统
CN109240191B (zh) * 2018-04-25 2020-04-03 实时侠智能控制技术有限公司 集成运动控制和电机控制的控制器和控制系统
WO2019218324A1 (zh) * 2018-05-17 2019-11-21 深圳配天智能技术研究院有限公司 用于机器人的编码器、驱动器、控制器及机器人

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Publication number Publication date
EP2946253A4 (de) 2016-10-12
WO2014110748A1 (en) 2014-07-24
EP2946253A1 (de) 2015-11-25

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Application publication date: 20150909