CN105500373A - Robot arm control system - Google Patents
Robot arm control system Download PDFInfo
- Publication number
- CN105500373A CN105500373A CN201410496983.2A CN201410496983A CN105500373A CN 105500373 A CN105500373 A CN 105500373A CN 201410496983 A CN201410496983 A CN 201410496983A CN 105500373 A CN105500373 A CN 105500373A
- Authority
- CN
- China
- Prior art keywords
- photoelectric isolation
- isolation module
- module
- interface module
- motion control
- 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
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a robot arm control system. The robot arm control system has great advantages in high speed, high precision, multi-axis linkage and the like, and is more perfect in function and is great in superiority due to the fact that a visual identification part is additionally arranged. The robot arm control system comprises a DMC5480 motion control card, a photoelectric isolation module, a non-photoelectric isolation module, a platform interface module, a coder, a hand wheel, and a servo interface module. The structural key point of the robot arm control arm is that the photoelectric isolation module and the non-photoelectric isolation module are arranged on the same level, and are powered by +24V output voltage; the DMC 5480 motion control card comprises a CPU (central processing unit), an ACIC, a CPU external RAM (random-access memory) and a PCI (programmable communications interface) bus; the hand wheel is connected to the non-photoelectric isolation module; the coder and the platform interface module are connected to the photoelectric isolation module; the servo interface module and the photoelectric isolation module are connected with each other; the photoelectric isolation module and the DMC5480 motion control card are connected with each other; and the platform interface module, the coder, the hand wheel and the servo interface module are arranged on the same level.
Description
Technical field
The invention belongs to robot industry field, specifically a kind of robot arm control system.
Background technology
At present, Chinese scholars is seldom applied to robot arm on the entertainment selection of Chinese tradition, as Chinese chess.And China is also in the starting stage to the exploitation of amusement robot and research, how applied for machines human arm replaces the arm of people to realize playing chess is the problem mainly solved.Based on the Open architecture robot control system of a kind of motion control card of above problem, at a high speed, high accuracy, the aspect tool such as multi-shaft interlocked has great advantage, and adds visual identity part, and function is more perfect, and tool has an enormous advantage.
Robot has multiple kinematic axis mostly, and major part is the kinetic control system of multiaxis real-time linkage.What classical robot control system adopted mostly is closed architecture, adopts special computer to form control loop in conjunction with single-chip microcomputer.Controller under this architecture is finished the work under being difficult to fast in speed, that required precision is high condition, and multi-axial Simultaneous motion control simultaneously also exists technical barrier.In addition also have a series of shortcoming, comprise use cost great majority very high, need the construction cycle grown very much, be difficult to upgrading, add New function and be not easy.Above shortcoming limits workplace and the range of application of robot.
Summary of the invention
The present invention is exactly for the problems referred to above, makes up the deficiencies in the prior art, provides a kind of robot arm control system, the present invention at a high speed, high accuracy, the aspect tool such as multi-shaft interlocked has great advantage, and add visual identity part, function is more perfect, and tool has an enormous advantage.
For realizing above-mentioned purpose of the present invention, the present invention adopts following technical scheme.
A kind of robot arm control system of the present invention, takes interface module comprising DMC5480 motion control card, photoelectric isolation module, non-photoelectric isolation module, platform interface module, encoder, handwheel, private; Its structural feature is: photoelectric isolation module and non-photoelectric isolation module to be arranged on same level and to be powered by+24V output voltage, and DMC5480 motion control card comprises CPU, ACIC, CPU peripheral hardware RAM and pci bus; Handwheel is connected with non-photoelectric isolation module, and encoder is connected with photoelectric isolation module with platform interface module; Private takes interface module and photoelectric isolation module is interconnected, and photoelectric isolation module and DMC5480 motion control card are interconnected; Wherein platform interface module, encoder, handwheel, private take interface module and are arranged on same level.
As a preferred embodiment of the present invention, described DMC5480 motion control card is the high-grade pulsed motion control card based on pci bus, this product not only have employed the motion control special chip (ASIC) of Lei Tai company, also add CPU and RAM, and be configured with 512 sections of bufferings, make processing capability in real time stronger; Simultaneously under the trajectory planning software support of advanced person, achieve motion prediction and control, make its high speed track control performance very outstanding.
In addition, described DMC5480 motion control card also has other Premium Features many, as: in motor movement process, program can revise speed and the target location of this motion process according to different conditions; Trapezoidal, the S shape rate curve of different acceleration, deceleration can be set.
The invention has the beneficial effects as follows.
The present invention adopts DMC5480 series multi-axis motion controller construction robot control system of new generation, the problem of finishing the work under can solving the condition that controller is fast in speed, required precision is high well; Also solve the technical barrier of multi-axial Simultaneous motion control simultaneously; External sensor and internet controlling functions can also be increased to robot like a cork simultaneously.It is the mainstream development direction of Robot Helps Me To Avoid Danger controller, also provides software and hardware technology to support for solving some highly difficult robot engineering projects.
Accompanying drawing explanation
Fig. 1 is the DMC5480 motion control card system block diagram of a kind of robot arm control system of the present invention.
Detailed description of the invention
As shown in Figure 1, be the DMC5480 motion control card system block diagram of a kind of robot arm control system of the present invention.Figure comprises DMC5480 motion control card, photoelectric isolation module, non-photoelectric isolation module, platform interface module, encoder, handwheel, private take interface module; Photoelectric isolation module and non-photoelectric isolation module to be arranged on same level and to be powered by+24V output voltage, and DMC5480 motion control card comprises CPU, ACIC, CPU peripheral hardware RAM and pci bus; Handwheel is connected with non-photoelectric isolation module, and encoder is connected with photoelectric isolation module with platform interface module; Private takes interface module and photoelectric isolation module is interconnected, and photoelectric isolation module and DMC5480 motion control card are interconnected; Wherein platform interface module, encoder, handwheel, private take interface module and are arranged on same level.
DMC5480 motion control card of the present invention is the high-grade pulsed motion control card based on pci bus, this product not only have employed the motion control special chip (ASIC) of Lei Tai company, also add CPU and RAM, and be configured with 512 sections of bufferings, make processing capability in real time stronger; Simultaneously under the trajectory planning software support of advanced person, achieve motion prediction and control, make its high speed track control performance very outstanding.In addition, described DMC5480 motion control card also has other Premium Features many, as: in motor movement process, program can revise speed and the target location of this motion process according to different conditions; Trapezoidal, the S shape rate curve of different acceleration, deceleration can be set.
Claims (3)
1. a robot arm control system, takes interface module comprising DMC5480 motion control card, photoelectric isolation module, non-photoelectric isolation module, platform interface module, encoder, handwheel, private; It is characterized in that: photoelectric isolation module and non-photoelectric isolation module to be arranged on same level and to be powered by+24V output voltage, and DMC5480 motion control card comprises CPU, ACIC, CPU peripheral hardware RAM and pci bus; Handwheel is connected with non-photoelectric isolation module, and encoder is connected with photoelectric isolation module with platform interface module; Private takes interface module and photoelectric isolation module is interconnected, and photoelectric isolation module and DMC5480 motion control card are interconnected; Wherein platform interface module, encoder, handwheel, private take interface module and are arranged on same level.
2. a kind of robot arm control system according to claim 1, it is characterized in that: described DMC5480 motion control card adds CPU and RAM based on the high-grade pulsed motion control card of pci bus, and be configured with 512 sections of bufferings.
3. a kind of robot arm control system according to claim 2, is characterized in that: described DMC5480 motion control card can revise the speed of this motion process according to different conditions and target is put; Trapezoidal, the S shape rate curve of different acceleration, deceleration can be set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410496983.2A CN105500373A (en) | 2014-09-25 | 2014-09-25 | Robot arm control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410496983.2A CN105500373A (en) | 2014-09-25 | 2014-09-25 | Robot arm control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105500373A true CN105500373A (en) | 2016-04-20 |
Family
ID=55708867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410496983.2A Pending CN105500373A (en) | 2014-09-25 | 2014-09-25 | Robot arm control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105500373A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926251A (en) * | 2017-04-07 | 2017-07-07 | 温州职业技术学院 | A kind of intelligent entertainment robot based on infrared induction |
-
2014
- 2014-09-25 CN CN201410496983.2A patent/CN105500373A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926251A (en) * | 2017-04-07 | 2017-07-07 | 温州职业技术学院 | A kind of intelligent entertainment robot based on infrared induction |
| CN106926251B (en) * | 2017-04-07 | 2019-12-10 | 温州职业技术学院 | Intelligent entertainment robot based on infrared induction |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102219051B (en) | Method for controlling four-rotor aircraft system based on human-computer interaction technology | |
| CN103909522B (en) | A kind of Six-DOF industrial robot is by the method in unusual territory | |
| CN103064343B (en) | Track generating method facing toward complex curved surface processing and track generating system thereof | |
| CN107756400B (en) | 6R robot inverse kinematics geometric solving method based on momentum theory | |
| CN104570735A (en) | Arc-shaped movement-track algorithm for palletizing robot | |
| CN108527365A (en) | A kind of high speed parallel robot drive system parameters optimized Selection method | |
| CN102866638A (en) | Double-turntable five-axis numerical control machine tool virtual assembling and numerical control machining simulation method | |
| CN204868863U (en) | Pile up neatly robot control system | |
| CN104742127A (en) | Robot control method and robot | |
| RU2016152157A (en) | COLLISION DETECTION | |
| CN103240750A (en) | Mechanical arm control method based on synchronous sensing | |
| CN205958980U (en) | Six motion control wares of industrial robot | |
| CN103192363A (en) | Device and method for controlling planar three-freedom-degree flexible hinge parallel robot | |
| CN203250190U (en) | Controller of industrial robot | |
| CN105500373A (en) | Robot arm control system | |
| CN106041967A (en) | Control device of bionic manipulator | |
| CN103552072B (en) | A kind of robot control method based on embedded controller and device | |
| CN114030222B (en) | Visual stamping line multi-machine coordination track optimization method and system | |
| CN203726491U (en) | Intelligent manipulator | |
| CN207155786U (en) | A kind of servo manipulator control device based on HMI | |
| Yan et al. | The simulation and optimization of chain tool magazine automatic tool change process | |
| CN203164681U (en) | Trajectory generation system for complex curved surface processing | |
| Zhai et al. | Trajectory planning of NAO robot arm based on target recognition | |
| CN206348641U (en) | The omni-directional mobile robots control system developed based on dSPACE controllers | |
| CN105500374B (en) | Actuating unit and the robot device for including it |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160420 |
|
| WD01 | Invention patent application deemed withdrawn after publication |