CN105334806B - Industrial robot motion control method and system based on EtherCAT buses - Google Patents
Industrial robot motion control method and system based on EtherCAT buses Download PDFInfo
- Publication number
- CN105334806B CN105334806B CN201510813119.5A CN201510813119A CN105334806B CN 105334806 B CN105334806 B CN 105334806B CN 201510813119 A CN201510813119 A CN 201510813119A CN 105334806 B CN105334806 B CN 105334806B
- Authority
- CN
- China
- Prior art keywords
- data
- industrial robot
- encoder
- encoder data
- ethercat
- 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.)
- Expired - Fee Related
Links
Classifications
-
- 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
Abstract
Disclose a kind of industrial robot motion control method and system based on EtherCAT buses.The present invention carries out data synchronization transmissions by using EtherCAT buses, without extra motion control card, simplifies the Hardware Design；Sent by the encoder data for receiving the second buffering subelement last time when the first buffering subelement does not receive the first encoder data as the first encoder data to data processing unit, it is possible to increase the continuity of industrial robot motion；By comparing data processing cycle and data communication cycle and when register value is more than default threshold number, extending data communication cycle, it is possible to increase the validity of data transfer in robot kinematics.
Description
Technical field
The present invention relates to the Multi-axis motion control method of industrial robot, and in particular to a kind of based on EtherCAT buses
Industrial robot motion control method and system.
Background technology
The background of related to the present invention is illustrated below, but these explanations might not constitute the existing of the present invention
Technology.
At present, the framework of " computer+motion control card " is used the Multi-axis motion control method of industrial robot more.Calculate
Machine carries out industrial robot kinematics algorithm computing, and motion control card resolves each number of axle evidence of industrial robot, fixed by hardware
When mode be sent to each axis servomotor of industrial robot simultaneously, control each axle of industrial robot is moved simultaneously.This control mode is needed
Increase extra motion control card, and be not easy to carry out system extension.
The content of the invention
It is an object of the invention to propose a kind of industrial robot motion control method based on EtherCAT buses and be
System, the synchronism and continuity of each axle motion of industrial robot is good, and the Hardware Design is simple, scalability is good.
According to an aspect of the invention, there is provided a kind of industrial robot motion controlling party based on EtherCAT buses
Method, including：
S1, judge whether the first buffering subelement for receiving buffer cell receives driver and sent out by EtherCAT buses
First encoder data of each axle of industrial robot sent in current location；If the first buffering subelement receives the first encoder
Data, then send the first encoder number to the data processing unit of EtherCAT master stations；If the first buffering subelement is not received
First encoder data, then will receive the second buffering subelement encoder data for receiving of last time of buffer cell as
First encoder data is sent to the data processing unit；Record current time t1；
S2, Kinematic Algorithms are determined according to user instruction, determined based on the first encoder data and the Kinematic Algorithms
Second encoder data of each axle of industrial robot in next movement position；
S3, second encoder data are sent to the second buffering subelement by EtherCAT buses and to send buffering single
Member, and the second encoder data sent in buffer cell are sent to driver；Record current time t2；
If S4, data processing cycle T1More than data communication cycle T2, register value is increased by 1；When register value is big
When default threshold number, extend data communication cycle T2；
Wherein, the data processing cycle T1Refer to since data processing unit receive the first encoder data to will hair
The second encoder data in buffer cell are sent to send the time untill driver, T1=t2-t1；The data communication cycle
T2It is the time interval that finger actuator sends the first encoder data by EtherCAT buses.
Preferably, when second encoder data are sent to the second buffering subelement, with second encoder data cover the
Data in two buffering subelements.
Preferably, step S4 includes：
If T1＞ T2, register value is increased by 1, and obtain data processing cycle T1With data communication cycle T2Cycle
Difference；
The standard deviation of the periodic inequality obtained when according to the register value and increasing register value every time is looked into
Default first mapping relations are ask, the extension amount of data communication cycle is determined；
According to the extension amount of the data communication cycle, extension data communication cycle T2。
Preferably, further comprised according to the industrial robot motion control method of the present invention：
When EtherCAT data frames have detected outside axis servomotor or I/O module access EtherCAT network, reconfigure
The protocol stack of EtherCAT network.
Preferably, step S2 includes：
If the user instruction is linear motion or circular motion, the Kinematic Algorithms are defined as robot Descartes
Spatial kinetics algorithm；
According to the speed reducing ratio of each axle of industrial robot, the first encoder data is converted into the joint space angle of current location
Degree；
Industrial robot normal solution computing is carried out, the joint space angle of the current location is converted into the flute of current location
Karr space point coordinates；
Judge that industrial robot is in acceleration section, at the uniform velocity section or braking section according to the kinematic parameter of industrial robot,
The space point coordinates of next movement position is determined by interpolation operation；
The inverse solution computing of industrial robot is carried out, by the spatial point coordinate transformation of next movement position into next motion bit
The joint space angle put；
According to the speed reducing ratio of each axle of industrial robot, the joint space angle of next movement position is converted into the second volume
Code device data.
Preferably, step S2 includes：
If the user instruction moves for point-to-point, the Kinematic Algorithms are defined as robotic joint space kinematics
Algorithm；
According to the speed reducing ratio of each axle of industrial robot, the first encoder data is converted into the joint space angle of current location
Degree；
Judge that industrial robot is in acceleration section, at the uniform velocity section and still slowed down according to the kinematic parameter of industrial robot
Section, the joint space angle of next movement position is determined by interpolation operation；
According to the speed reducing ratio of each axle of industrial robot, the joint space angle of next movement position is converted into the second volume
Code device data.
There is provided a kind of industrial robot motion control based on EtherCAT buses according to another aspect of the present invention
System, including：Control unit, reception buffer cell, data processing unit, transmission buffer cell, register cell, data communication
Adjustment unit and data storage cell；Wherein,
Receiving buffer cell includes：First, which receives buffering subelement and second, receives buffering subelement；First receives buffering
Subelement is used to receive and each axle of industrial robot for being sent by EtherCAT buses of memory driver is the of current location
One encoder data；Second receives buffering subelement is sent for receiving with data storage processing unit by EtherCAT buses
Second encoder data；
Data processing unit is used for the first encoder number for judging whether the first buffering subelement receives driver transmission
According to：If the first buffering subelement receives the first encoder data, obtained by EtherCAT buses from the first buffering subelement
Take the first encoder number, if first buffering subelement do not receive the first encoder data, with second buffering subelement last
The secondary encoder data received as the first encoder data and obtains the first encoder data by EtherCAT buses；
Data processing unit is additionally operable to determine Kinematic Algorithms according to user instruction, is calculated based on the first encoder data and the kinematics
Method determines second encoder data of each axle of industrial robot in next movement position, is compiled by EtherCAT buses by second
Code device data send to the second buffering subelement and send buffer cell, and the second encoder data that will be sent in buffer cell
Send to driver；
Data communication adjustment unit includes：Timer and register；Timer is used for record data processing unit and receives the
T at the time of one encoder data1, by send buffer cell in second encoder data send to t at the time of driver2；
Control unit is used to judge data processing cycle T1Whether data communication cycle T is more than2：If T1＞ T2, by register
Numerical value increase by 1, when register value is more than default threshold number, extends data communication cycle T2；
Wherein, the data processing cycle T1Refer to since data processing unit receive the first encoder data to will hair
The second encoder data in buffer cell are sent to send the time untill driver, T1=t2-t1；The data communication cycle
T2It is the time interval that finger actuator sends the first encoder data by EtherCAT buses；Stored in data storage cell
The protocol stack of EtherCAT network, the protocol stack of the EtherCAT network includes data communication cycle T2。
Preferably, when second encoder data are sent to the second buffering subelement, with second encoder data cover the
Data in two buffering subelements.
Preferably, described control unit is additionally operable to：If T1＞ T2, obtain data processing cycle T1With data communication cycle T2
Periodic inequality；It is determined that the standard deviation of the periodic inequality obtained when increasing register value every time；According to the register value
And the standard deviation of the periodic inequality inquires about default first mapping relations, determines the extension amount of data communication cycle；According to institute
State the extension amount of data communication cycle, extension data communication cycle T2；
The standard deviation inquiry default the of the register value that is stored with the data storage cell and the periodic inequality
One mapping relations.
Preferably, control unit is further used for：
When EtherCAT data frames have detected outside axis servomotor or I/O module access EtherCAT network, reconfigure
The protocol stack of EtherCAT network.
According to the industrial robot motion control method based on EtherCAT buses of the present invention, including：Referred to according to user
Corresponding Kinematic Algorithms and the first encoder data is made to determine that each axle of industrial robot is compiled the second of next movement position
Code device data, and the second encoder data sent in buffer cell are sent to driver；If data processing cycle T1It is more than
Data communication cycle T2, register value is increased by 1；When register value is more than default threshold number, extension data are led to
Believe cycle T2.The present invention carries out data synchronization transmissions by using EtherCAT buses, without extra motion control card, simplifies
The Hardware Design；By when the first buffering subelement does not receive the first encoder data that the second buffering subelement is last
The encoder data once received is sent to data processing unit as the first encoder data, it is possible to increase industrial robot
The continuity of motion；By comparing data processing cycle and data communication cycle and when register value is more than default threshold value
During number of times, extend data communication cycle, it is possible to increase the validity of data transfer in robot kinematics.
Present invention also offers a kind of industrial robot motion control system based on EtherCAT buses, the system has
All beneficial effects of the above method.
Brief description of the drawings
By the embodiment part of offer referring to the drawings, the features and advantages of the present invention will become more
It is readily appreciated that, in the accompanying drawings：
Fig. 1 is the principle for showing the industrial robot motion control system based on EtherCAT buses according to the present invention
Figure.
Embodiment
The illustrative embodiments to the present invention are described in detail with reference to the accompanying drawings.Illustrative embodiments are retouched
State merely for the sake of demonstration purpose, and be definitely not to the present invention and its application or the limitation of usage.
In the prior art, use the framework of " computer+motion control card " more industrial robot motion control method, calculate
Machine carries out industrial robot kinematics algorithm computing, and motion control card determines each number of axle evidence for resolving industrial robot by hardware
When mode be sent to each axis servomotor of industrial robot simultaneously, control each axle of industrial robot is moved simultaneously.This control mode is needed
Increase extra motion control card, and be not easy to carry out system extension.The present invention is carried out by using EtherCAT buses
Data synchronization transmissions, without extra motion control card, simplify the Hardware Design.
In industrial robot motion control process, driver sends work by EtherCAT buses to buffer cell is received
Industry robot is in the first encoder data of current location, and data processing unit is according to the first encoder data calculating industrial machine
Each axle of people gives driver in the second encoder Data Concurrent of next movement position, passes through driver control industrial robot
Move to next movement position.In order to improve the accuracy and continuity of industrial robot motion track, industrial machine can be made
Movement position of the device people on movement locus is tried one's best many.Define data processing cycle T1Compiled to receive first from data processing unit
Code device data start to second encoder data to be sent to the time untill driver, data communication cycle T2It is logical for driver
Cross the time interval that EtherCAT buses send the first encoder data.The quantity of industrial robot motion position is often counted
According to the influence of communication cycle, such as, work as T1＜ T2When, when industrial robot motion control process just starts, industrial robot position
In the first movement position, after driver sends the first encoder data of the first movement position into the first buffering subelement,
Data processing unit can obtain the first encoder data and the first encoder data is changed into second encoder data and send
After driver, industrial robot can move to second movement position under the driving of driver, due to T1＜ T2, driver
First encoder data of the industrial robot in second movement position will not be sent by EtherCAT buses again at once, only
When this data communication cycle terminates and enters next data communication cycle, driver can just send industrial robot again
In the first encoder data of second movement position, have at any one movement position after second movement position
Above-mentioned situation is likely to occur, so as to cause effective exercise number of positions of the industrial robot on movement locus less, is reduced
The accuracy of industrial robot motion TRAJECTORY CONTROL.
In order to solve this problem, according to the industrial robot motion controlling party based on EtherCAT buses of the present invention
Method, first determines whether whether the first buffering subelement for receiving buffer cell receives driver and pass through EtherCAT in step sl
First encoder data of each axle of industrial robot that bus is sent in current location；If the first buffering subelement receives first
Encoder data, then send the first encoder number to the data processing unit of EtherCAT master stations；If the first buffering subelement
The first encoder data is not received, then the encoder number received the second buffering subelement last time for receiving buffer cell
Sent according to as the first encoder data to the data processing unit.It ensure that by using this mode and work as T1＜ T2When,
Data processing unit constantly obtains the first encoder data, so as to increase effective exercise position of the industrial robot on movement locus
Quantity is put, the accuracy of industrial robot motion TRAJECTORY CONTROL is improved.
The first encoder data in the present invention can include：The state of driver corresponding with each axle of industrial robot
Word, current location, present speed and current torque.
Data processing unit is designated as t at the time of receiving the first encoder data1。
S2, Kinematic Algorithms are determined according to user instruction, determined based on the first encoder data and the Kinematic Algorithms
Second encoder data of each axle of industrial robot in next movement position.The second coding information in the present invention can be wrapped
Include：The control word of driver, next movement position, next movement velocity and next motive torque.
According to a preferred embodiment of the present invention, step S2 includes：
If user instruction is linear motion or circular motion, Kinematic Algorithms are defined as robot cartesian space motion
Learn algorithm；
According to the speed reducing ratio of each axle of industrial robot, the first encoder data is converted into the joint space angle of current location
Degree；
Industrial robot normal solution computing is carried out, the joint space angle of current location is converted into the Descartes of current location
Space point coordinates；
Judge that industrial robot is in acceleration section, at the uniform velocity section or braking section according to the kinematic parameter of industrial robot,
The space point coordinates of next movement position is determined by interpolation operation；
The inverse solution computing of industrial robot is carried out, by the spatial point coordinate transformation of next movement position into next motion bit
The joint space angle put；
According to the speed reducing ratio of each axle of industrial robot, the joint space angle of next movement position is converted into the second volume
Code device data.
According to another preferred embodiment of the present invention, step S2 includes：
If user instruction moves for point-to-point, Kinematic Algorithms are defined as robotic joint space Kinematic Algorithms；
According to the speed reducing ratio of each axle of industrial robot, the first encoder data is converted into the joint space angle of current location
Degree；
Judge that industrial robot is in acceleration section, at the uniform velocity section and still slowed down according to the kinematic parameter of industrial robot
Section, the joint space angle of next movement position is determined by interpolation operation；
According to the speed reducing ratio of each axle of industrial robot, the joint space angle of next movement position is converted into the second volume
Code device data.
S3, second encoder data are sent to the second buffering subelement by EtherCAT buses and to send buffering single
Member, and the second encoder data sent in buffer cell are sent to driver.Second encoder data are sent to second
When buffering subelement, second encoder data can be stored directly in the second buffering subelement, can also make second encoder
Data in the buffering subelement of data cover second.The second encoder data sent in buffer cell are sent to driver
Moment is designated as t2, then data processing cycle T1=t2-t1。
Work as T1＞ T2When, data processing unit obtains the first encoder data, the first encoder data is converted into the second volume
The frequency that code device Data Concurrent gives driver is less than driver to the frequency for receiving buffer cell the first encoder data of transmission,
Now the quantity for the second encoder data that driver is received is less than the quantity of the first encoder data of its transmission so that industry
The quantity of the effective exercise position of robot reduces, and is unfavorable for improving the accuracy of industrial robot motion TRAJECTORY CONTROL.
In order to prevent the generation of such case, industrial robot motion control method of the invention is also wrapped after step s 3
Include step S4：If data processing cycle T1More than data communication cycle T2, register value is increased by 1；When register value is more than
During default threshold number, extend data communication cycle T2.Preferably, step S4 includes：
If T1＞ T2, register value is increased by 1, and obtain data processing cycle T1With data communication cycle T2Cycle
Difference；
The standard deviation inquiry of the periodic inequality obtained when according to register value and increasing register value every time is default
First mapping relations, determine the extension amount of data communication cycle；
According to the extension amount of data communication cycle, extension data communication cycle T2。
In actual application, it is sometimes necessary to outside axis servomotor or I/O module are accessed in EtherCAT network.This
Outside, because the industrial robot motion control method of the present invention is without extra motion control card, therefore the Hardware Design is simple
It is single, it is more beneficial for the extension of industrial robot motion control system.In order to improve the speed of the reaction to outside axis servomotor or I/O module
Degree and the efficiency for improving industrial robot motion control, industrial robot motion control method of the invention can also be wrapped further
Include：
When EtherCAT data frames have detected outside axis servomotor or I/O module access EtherCAT network, reconfigure
The protocol stack of EtherCAT network, it is to avoid in the prior art due to reconfiguring protocol stack after power-off to industrial robot motion
The influence of control efficiency.
The industrial robot motion control system of industrial robot motion control method based on the present invention, including：Control
Unit (not shown), reception buffer cell 20, data processing unit 10, transmission buffer cell 40, register cell are (in figure
It is not shown), data communication adjustment unit (not shown) and data storage cell (not shown)；Wherein,
Receiving buffer cell 20 includes：First, which receives buffering subelement 21 and second, receives buffering subelement 22；First connects
Each axle of industrial robot that buffering subelement 21 is used to receive and memory driver 30 is sent by EtherCAT buses is received to work as
First encoder data of front position；Second receives buffering subelement 22 passes through for receiving with data storage processing unit
The second encoder data that EtherCAT buses are sent；
Data processing unit is used for the first coding for judging whether the first buffering subelement 21 receives the transmission of driver 30
Device data：If the first buffering subelement 21 receives the first encoder data, by EtherCAT buses from the first buffer sublayer
Unit 21 obtains the first encoder number, if the first buffering subelement 21 does not receive the first encoder data, with the second buffer sublayer
The encoder data that the last time of unit 22 is received as the first encoder data and obtains first by EtherCAT buses
Encoder data；Data processing unit is additionally operable to determine Kinematic Algorithms according to user instruction, based on the first encoder data and
Kinematic Algorithms determine second encoder data of each axle of industrial robot in next movement position, pass through EtherCAT buses
Second encoder data are sent to the second buffering subelement 22 and buffer cell 40 is sent, and will be sent in buffer cell 40
Second encoder data are sent to driver 30；
Data communication adjustment unit includes：Timer and register；Timer is used for record data processing unit and receives the
T at the time of one encoder data1, by send buffer cell 40 in second encoder data send to t at the time of driver 302；
Control unit is used to judge data processing cycle T1Whether data communication cycle T is more than2：If T1＞ T2, by register
Numerical value increase by 1, when register value is more than default threshold number, extends data communication cycle T2；
Wherein, data processing cycle T1Refer to slow to that will send since data processing unit receives the first encoder data
The second encoder data rushed in unit 40 send the time untill driver, T1=t2-t1；Data communication cycle T2Refer to
Driver sends the time interval of the first encoder data by EtherCAT buses；EtherCAT is stored in data storage cell
The protocol stack of network, the protocol stack of EtherCAT network includes data communication cycle T2。
Preferably, when second encoder data are sent to the second buffering subelement 22, with second encoder data cover
Data in second buffering subelement 22.
Preferably, control unit is additionally operable to：If T1＞ T2, obtain data processing cycle T1With data communication cycle T2Week
Phase is poor；It is determined that the standard deviation of the periodic inequality obtained when increasing register value every time；According to register value and the cycle
The standard deviation of difference inquires about default first mapping relations, determines the extension amount of data communication cycle；According to data communication cycle
Extension amount, extension data communication cycle T2；
Default first mapping of standard deviation inquiry of the register value that is stored with data storage cell and periodic inequality is closed
System.
Preferably, control unit is further used for：
When EtherCAT data frames have detected outside axis servomotor or I/O module access EtherCAT network, reconfigure
The protocol stack of EtherCAT network.
The present invention carries out data synchronization transmissions by using EtherCAT buses, without extra motion control card, simplifies
The Hardware Design；By when the first buffering subelement does not receive the first encoder data that the second buffering subelement is last
The encoder data once received is sent to data processing unit as the first encoder data, it is possible to increase industrial robot
The continuity of motion；By comparing data processing cycle and data communication cycle and when register value is more than default threshold value
During number of times, extend data communication cycle, it is possible to increase the validity of data transfer in robot kinematics.
Although with reference to illustrative embodiments, invention has been described, but it is to be understood that the present invention does not limit to
The embodiment that Yu Wenzhong is described in detail and shown, in the case of without departing from claims limited range, this
Art personnel can make various changes to the illustrative embodiments.
Claims (6)
1. a kind of industrial robot motion control method based on EtherCAT buses, it is characterised in that including：
S1, judge receive buffer cell first buffering subelement whether receive what driver was sent by EtherCAT buses
First encoder data of each axle of industrial robot in current location；When the first buffering subelement receives the first encoder data
When, then the first encoder number is sent to the data processing unit of EtherCAT master stations；When the first buffering subelement does not receive the
During one encoder data, then will receive the second buffering subelement encoder data for receiving of last time of buffer cell as
First encoder data is sent to the data processing unit；Record current time t1；
S2, Kinematic Algorithms are determined according to user instruction, industry is determined based on the first encoder data and the Kinematic Algorithms
Second encoder data of each axle of robot in next movement position；
S3, by EtherCAT buses by second encoder data send to second buffering subelement and send buffer cell, and
The second encoder data sent in buffer cell are sent to driver；Record current time t2；
S4, as data processing cycle T1More than data communication cycle T2When, register value is increased by 1；When register value is more than
During default threshold number, extend data communication cycle T2；
Wherein, the data processing cycle T1Refer to slow to that will send since data processing unit receives the first encoder data
The second encoder data rushed in unit send the time untill driver, T1=t2-t1；The data communication cycle T2It is
Finger actuator sends the time interval of the first encoder data by EtherCAT buses.
2. industrial robot motion control method as claimed in claim 1, it is characterised in that send second encoder data
During to the second buffering subelement, the data in subelement are buffered with second encoder data cover second.
3. industrial robot motion control method as claimed in claim 1, it is characterised in that step S4 includes：
If T1＞ T2, register value is increased by 1, and obtain data processing cycle T1With data communication cycle T2Periodic inequality；
The standard deviation inquiry of the periodic inequality obtained when according to the register value and increasing register value every time is pre-
If the first mapping relations, determine the extension amount of data communication cycle；
According to the extension amount of the data communication cycle, extension data communication cycle T2。
4. industrial robot motion control method as claimed in claim 1, it is characterised in that further comprise：
When EtherCAT data frames have detected outside axis servomotor or I/O module access EtherCAT network, reconfigure
The protocol stack of EtherCAT network.
5. the industrial robot motion control method as described in claim 1-4 is any, wherein, step S2 includes：
If the user instruction is linear motion or circular motion, the Kinematic Algorithms are defined as robot cartesian space
Kinematic Algorithms；
According to the speed reducing ratio of each axle of industrial robot, the first encoder data is converted into the joint space angle of current location；
Industrial robot normal solution computing is carried out, the joint space angle of the current location is converted into the Descartes of current location
Space point coordinates；
Judge that industrial robot is in acceleration section, at the uniform velocity section or braking section according to the kinematic parameter of industrial robot, pass through
Interpolation operation determines the space point coordinates of next movement position；
The inverse solution computing of industrial robot is carried out, by the spatial point coordinate transformation of next movement position into next movement position
Joint space angle；
According to the speed reducing ratio of each axle of industrial robot, the joint space angle of next movement position is converted into second encoder
Data.
6. the industrial robot motion control method as described in claim 1-4 is any, it is characterised in that step S2 includes：
If the user instruction moves for point-to-point, the Kinematic Algorithms are defined as robotic joint space kinematics and calculated
Method；
According to the speed reducing ratio of each axle of industrial robot, the first encoder data is converted into the joint space angle of current location；
Judge that industrial robot is in acceleration section, at the uniform velocity section or braking section according to the kinematic parameter of industrial robot,
The joint space angle of next movement position is determined by interpolation operation；
According to the speed reducing ratio of each axle of industrial robot, the joint space angle of next movement position is converted into second encoder
Data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510813119.5A CN105334806B (en) | 2015-11-21 | 2015-11-21 | Industrial robot motion control method and system based on EtherCAT buses |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510813119.5A CN105334806B (en) | 2015-11-21 | 2015-11-21 | Industrial robot motion control method and system based on EtherCAT buses |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105334806A CN105334806A (en) | 2016-02-17 |
| CN105334806B true CN105334806B (en) | 2017-10-10 |
Family
ID=55285417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510813119.5A Expired - Fee Related CN105334806B (en) | 2015-11-21 | 2015-11-21 | Industrial robot motion control method and system based on EtherCAT buses |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105334806B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106650031A (en) * | 2016-11-29 | 2017-05-10 | 南京熊猫电子股份有限公司 | Method for automatically setting tool parameters of industrial robot |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6442451B1 (en) * | 2000-12-28 | 2002-08-27 | Robotic Workspace Technologies, Inc. | Versatile robot control system |
| JP5348489B2 (en) * | 2009-07-31 | 2013-11-20 | オムロン株式会社 | controller |
| US8295287B2 (en) * | 2010-01-27 | 2012-10-23 | National Instruments Corporation | Network traffic shaping for reducing bus jitter on a real time controller |
| JP5660922B2 (en) * | 2011-02-18 | 2015-01-28 | 三菱電機株式会社 | Serial communication device |
| CN102354162B (en) * | 2011-07-22 | 2013-06-12 | 江俊逢 | Motion control interface and interface controller |
| CN103425112A (en) * | 2013-08-19 | 2013-12-04 | 电子科技大学 | Robot control method based on Ethercat |
| CN103487640A (en) * | 2013-09-22 | 2014-01-01 | 浙江大学 | Current monitoring method for enterprise electric equipment based on distributed type network |
| CN104009976B (en) * | 2014-05-09 | 2017-12-05 | 中国人民银行印制科学技术研究所 | A kind of real-time communication method being used between more main station systems and its equipment |
| CN104391818B (en) * | 2014-11-26 | 2018-08-28 | 国家电网公司 | A kind of bis- network data read-write systems of EtherCAT and its method |
| CN104702474B (en) * | 2015-03-11 | 2018-02-23 | 华中科技大学 | A kind of EtherCAT master station devices based on FPGA |
| CN104753958A (en) * | 2015-04-17 | 2015-07-01 | 深圳市英威腾电气股份有限公司 | Card and method for converting communication protocols |
| CN105024777B (en) * | 2015-07-29 | 2017-10-24 | 上海新时达电气股份有限公司 | Servo-driver synchronous method based on EtherCAT real-time ethernets |
| CN205281226U (en) * | 2015-11-21 | 2016-06-01 | 中国船舶重工集团公司第七一六研究所 | Industrial robot motion control system based on etherCAT bus |
-
2015
- 2015-11-21 CN CN201510813119.5A patent/CN105334806B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105334806A (en) | 2016-02-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103425106A (en) | Linux-based Ethercat maser/slave station control system and method | |
| US20100161834A1 (en) | User interface between a microcontroller and a flexray communications module; flexray user; and method for transmitting messages via such an interface | |
| JP2013526419A (en) | Method for controlling an automated work cell | |
| WO2020151406A1 (en) | Motion control method, apparatus and system, and storage medium | |
| CN106003034A (en) | Master-slave robot control system and control method | |
| NL2026115B1 (en) | Ethercat-based control system for high efficiency and real-time performance of single leg of robot | |
| CN104615087A (en) | Bus type motion controller | |
| CN105700465A (en) | Robot compliance control system and method based on EtherCAT bus | |
| CN101692181B (en) | High-speed coordinated control network and node chip | |
| CN106406227A (en) | Numerical control system interpolation algorithm and numerical control system | |
| Delgado et al. | An EtherCAT-based real-time motion control system in mobile robot application | |
| CN111452049A (en) | Robot motion control method and device | |
| CN113510720B (en) | Real-time distributed cooperative robot control system | |
| CN103358309A (en) | Ethernet based manipulator motion control system | |
| CN105334806B (en) | Industrial robot motion control method and system based on EtherCAT buses | |
| JP2023541528A (en) | Control command identification method and identification device, nonvolatile storage medium, processor, electronic device, articulated robot | |
| CN105128010B (en) | A kind of robot distributed control system of SCARA and its control method | |
| KR20100106030A (en) | Network transformation-apparatus, system and method for controlling robot using the same | |
| CN205281226U (en) | Industrial robot motion control system based on etherCAT bus | |
| Xi et al. | Design of a real-time robot control system oriented for human-robot cooperation | |
| CN103552072A (en) | Robot control method and device based on embedded controller | |
| Satler et al. | Bilateral teleoperation under time-varying delay using wave variables | |
| CN108170102B (en) | Motion control system | |
| CN203371545U (en) | Mechanical arm motion control system based on Ethernet | |
| WO2023138536A1 (en) | Motor control system, motor control method, and motor driving and forwarding device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171010 Termination date: 20181121 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |