CN105459133A - Wireless communication method of multi-axis servo drive system for mechanical arm - Google Patents
Wireless communication method of multi-axis servo drive system for mechanical arm Download PDFInfo
- Publication number
- CN105459133A CN105459133A CN201510846915.9A CN201510846915A CN105459133A CN 105459133 A CN105459133 A CN 105459133A CN 201510846915 A CN201510846915 A CN 201510846915A CN 105459133 A CN105459133 A CN 105459133A
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- communication
- servo
- slave station
- motion controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a wireless communication method of a multi-axis servo drive system for a mechanical arm. The wireless communication method comprises the following steps that point-to-point communication addresses are distributed to a motion controller and servo drivers; when a communication master station of the motion controller sends information to a communication slave station, the motion controller transmits data to be sent and an identifier of the motion controller to a wireless communication module of the communication master station, and the communication master station is in a message sending state; the data are organized by the wireless communication module of the communication master station into a certain message format according a protocol to be sent out, the communication slave station is in a receiving state at this moment, the servo drivers detect received messages, whether the messages are communication addresses correspondingly received by the communication slave station or not is judged, and if yes, the messages are received; otherwise, the messages are not received, and detection continues; and when the communication slave station of the servo drivers sends information to the communication master station, the same sending mechanism is adopted. Cable communication is replaced with a wireless communication manner, cost is reduced, stability is improved, and the space of the mechanical arm is reduced.
Description
Technical field
The invention belongs to manipulator control technical field, be specifically related to a kind of multiple-axis servo drive system wireless communications method towards manipulator.
Background technology
Industrial robot is a kind of high-tech automated production equipment grown up nearly decades.Industry mechanical arm be an important branch of industrial robot.Its feature has carried out the job task of various expection, structure and performance has people and machine advantage separately concurrently, especially embodies intelligence and the adaptability of people.Manipulator is in mechanization, a kind of new device grown up in automated production process, is applied in automatic assembly line widely.Although manipulator is flexible like that not as good as staff, it has energy constantly repeated work and work, does not know fatigue, be fearless of danger, the feature that the strength of snatch weight is larger than people hand-power, therefore, manipulator has been subject to the attention of many departments, and obtains application more and more widely.
The various actions of existing machinery hand are all come according to the execution instruction of motion controller by multiple motor and servo-driver.Each servo-driver is connected to motion controller by cable, motion controller robot movement Command Resolution to each servo drive motor, and by the cable commander motion of motor and the monitoring of motor operating state.But, by cable communication between the motion controller of manipulator and servo-driver, increase hardware cost on the one hand, and unreliable; On the other hand, cable takes up room, the activity space of constraint manipulator.In addition, do not have the mutual of information between servo-driver, each servo-driver is independent control, can not effectively utilize useful information each other.
Summary of the invention
The object of the invention is to overcome weak point of the prior art, provide one to reduce costs, improve the multiple-axis servo drive system wireless communications method of stability, control efficiency and precision.
The object of the invention is to be achieved through the following technical solutions:
Towards a multiple-axis servo drive system wireless communications method for manipulator, the multiple-axis servo drive system towards manipulator comprises the motion controller being provided with communication main station and the multiple servo-drivers being provided with communication slave station, said method comprising the steps of:
S1, be motion controller, each servo-driver distributing point point to-point communication address, and the point-to-point communication address of all servo-drivers is different;
S2, when the communication main station of motion controller will send information to communication slave station, the data that the CPU of motion controller will send and the identifier of oneself send the wireless communication module of communication main station to, and are in transmission message status; Data are made into certain message format according to protocol groups and send by the wireless communication module of communication main station, at this moment the slave station that communicates is in accepting state, each servo-driver being in accepting state detects the message received, judge whether described message is the mailing address that communication slave station correspondence receives, if so, then receive; Otherwise do not receive and continue to detect;
S3, when the communication slave station of servo-driver will send information to communication main station, data are made into certain message format according to protocol groups and send by the wireless communication module of communication slave station, at this moment communication main station is in accepting state, motion controller is in accepting state and motion controller detects the message received, judge whether described message is the mailing address that communication main station correspondence receives, if so, then receive; Otherwise do not receive and continue to detect.
Further, the described multiple-axis servo drive system wireless communications method towards manipulator is further comprising the steps of:
S4, when the communication slave station of wherein certain servo-driver will send information to the communication slave station of other servo-drivers, this wherein the wireless communication module of the communication slave station of certain servo-driver data be made into certain message format according to protocol groups send, at this moment the communication slave station of other servo-drivers described in is in accepting state and other servo-drivers described detect the message received, judge that whether described message is the mailing address that the communication slave station correspondence of other servo-drivers described receives, if so, then receive; Otherwise do not receive and continue to detect.
Concrete, described message format is the one or more combination in frame initial pulse signal, arbitration territory, control domain identifier, data field, CRC check code domain, Acknowledge, frame end territory.
The present invention has the following advantages and beneficial effect compared to existing technology:
1, the present invention replaces the cable communication of prior art by the communication of wireless communication module, reduces costs, improves stability, decrease the body plenum of manipulator, expand scope of activities.
2, between multiple servo-driver can information interaction, utilize information useful each other, improve control efficiency and precision.
3, the present invention has worked in coordination with multiple servo-driver and forming control system, makes the overall performance of manipulator optimum.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the multiple-axis servo drive system towards manipulator of the present invention.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
As Fig. 1, a kind of multiple-axis servo drive system wireless communications method towards manipulator, multiple-axis servo drive system towards manipulator comprises the motion controller being provided with communication main station and the multiple servo-drivers being provided with communication slave station, said method comprising the steps of:
S1, be motion controller, each servo-driver distributing point point to-point communication address, and the point-to-point communication address of all servo-drivers is different;
S2, when the communication main station of motion controller will send information to communication slave station, the data that the CPU of motion controller will send and the identifier of oneself send the wireless communication module of communication main station to, and are in transmission message status; Data are made into certain message format according to protocol groups and send by the wireless communication module of communication main station, at this moment the slave station that communicates is in accepting state, each servo-driver being in accepting state detects the message received, judge whether described message is the mailing address that communication slave station correspondence receives, if so, then receive; Otherwise do not receive and continue to detect;
S3, when the communication slave station of servo-driver will send information to communication main station, data are made into certain message format according to protocol groups and send by the wireless communication module of communication slave station, at this moment communication main station is in accepting state, motion controller is in accepting state and motion controller detects the message received, judge whether described message is the mailing address that communication main station correspondence receives, if so, then receive; Otherwise do not receive and continue to detect.
Further, the described multiple-axis servo drive system wireless communications method towards manipulator is further comprising the steps of:
S4, when the communication slave station of wherein certain servo-driver will send information to the communication slave station of other servo-drivers, this wherein the wireless communication module of the communication slave station of certain servo-driver data be made into certain message format according to protocol groups send, at this moment the communication slave station of other servo-drivers described in is in accepting state and other servo-drivers described detect the message received, judge that whether described message is the mailing address that the communication slave station correspondence of other servo-drivers described receives, if so, then receive; Otherwise do not receive and continue to detect.
Concrete, described message format is the one or more combination in frame initial pulse signal, arbitration territory, control domain identifier, data field, CRC check code domain, Acknowledge, frame end territory.
Described frame initial expression Frame and remote frame initial, be only made up of one " 1 " high position.
Arbitration territory is made up of 1l bit identifier.Arbitration territory comprises 29 bit identifiers, and its identifier has ID28 ~ ID0.
Control domain forms by 6, and comprise 2 and retain position and 4 bit data length code, the data length value of permission is 0 ~ 8 byte.
Data field refers to the data sent in buffering area and sends according to length code indicating length.For the data received, equally so.It can be 0 ~ 8 byte, and each byte packet is containing 8, and what first send is MSB (highest order).
CRC check code domain is accorded with by CRC territory (15) and CRC border and forming.
Two (response gap and response are defined) recessive positions that Acknowledge is sent by transmit leg form, and this recessive position sent is rewritten as dominant position by the response gap of sending node by all nodes receiving correct CRC sequence.
Frame end territory refers to that each Frame or remote frame end up by the frame end territory of a string seven recessive positions.Like this, receiving node correctly can detect the end of transmission of a frame.
The present invention can exchange information based on above-mentioned communication by the servo-driver of manipulator, utilizes data useful each other, sets up Cooperative Study control method.The method comprises two parts content: motor modeling and model-following control.
Motor modeling: existing manipulator servo drive control technology, be carry out modeling to single motor, whole manipulator is made up of multiple motor.Therefore, many electromechanicses hand model needs repeatedly modeling just can complete.Utilize the multiple-axis servo drive system wireless communications method towards manipulator of the present invention, then only need set up a motor model, then message data is become to be sent to other slave stations model conversation, then each servo-driver receives model data, only need less parameter adjustment then can obtain model more accurately, greatly reduce the motor modeling time.
Model-following control: manipulator will could obtain the controller of precision through the iterative learning of multiple repetitive process, each process of seeking constantly attempts new argument according to the information in past, and according to tracking error, regulating parameter value, finds optimal control parameter.Existing technology is all allow each servo-driver separately from initial parameters value, finds optimal control parameter according to certain rule always.Multiple servo-driver repeats same searching process.Utilize the multiple-axis servo drive system wireless communications method towards manipulator of the present invention, a motor tried bad parameter, be then sent to other servo driver of motor with message form, allow other servo-drivers no longer repeated attempt this group parameter.And then multiple servo-driver attempts different parameters simultaneously, greatly improve the efficiency searching out optimal control parameter.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (3)
1., towards a multiple-axis servo drive system wireless communications method for manipulator, the multiple-axis servo drive system towards manipulator comprises the motion controller being provided with communication main station and the multiple servo-drivers being provided with communication slave station, said method comprising the steps of:
S1, be motion controller, each servo-driver distributing point point to-point communication address, and the point-to-point communication address of all servo-drivers is different;
S2, when the communication main station of motion controller will send information to communication slave station, the data that the CPU of motion controller will send and the identifier of oneself send the wireless communication module of communication main station to, and are in transmission message status; Data are made into certain message format according to protocol groups and send by the wireless communication module of communication main station, at this moment the slave station that communicates is in accepting state, each servo-driver being in accepting state detects the message received, judge whether described message is the mailing address that communication slave station correspondence receives, if so, then receive; Otherwise do not receive and continue to detect;
S3, when the communication slave station of servo-driver will send information to communication main station, data are made into certain message format according to protocol groups and send by the wireless communication module of communication slave station, at this moment communication main station is in accepting state, motion controller is in accepting state and motion controller detects the message received, judge whether described message is the mailing address that communication main station correspondence receives, if so, then receive; Otherwise do not receive and continue to detect.
2. the multiple-axis servo drive system wireless communications method towards manipulator according to claim 1, is characterized in that, the described multiple-axis servo drive system wireless communications method towards manipulator is further comprising the steps of:
S4, when the communication slave station of wherein certain servo-driver will send information to the communication slave station of other servo-drivers, this wherein the wireless communication module of the communication slave station of certain servo-driver data be made into certain message format according to protocol groups send, at this moment the communication slave station of other servo-drivers described in is in accepting state and other servo-drivers described detect the message received, judge that whether described message is the mailing address that the communication slave station correspondence of other servo-drivers described receives, if so, then receive; Otherwise do not receive and continue to detect.
3. the multiple-axis servo drive system wireless communications method towards manipulator according to claim 1 and 2, it is characterized in that, described message format is the one or more combination in frame initial pulse signal, arbitration territory, control domain identifier, data field, CRC check code domain, Acknowledge, frame end territory.
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| CN201510846915.9A CN105459133A (en) | 2015-11-26 | 2015-11-26 | Wireless communication method of multi-axis servo drive system for mechanical arm |
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| CN201510846915.9A CN105459133A (en) | 2015-11-26 | 2015-11-26 | Wireless communication method of multi-axis servo drive system for mechanical arm |
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| CN108015771A (en) * | 2017-12-11 | 2018-05-11 | 上海信耀电子有限公司 | A kind of industrial robot control system |
| CN115079622A (en) * | 2022-08-22 | 2022-09-20 | 季华实验室 | Multi-servo debugging ID configuration system, method, electronic device and storage medium |
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| CN115079622A (en) * | 2022-08-22 | 2022-09-20 | 季华实验室 | Multi-servo debugging ID configuration system, method, electronic device and storage medium |
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