CN105700465A - Robot compliance control system and method based on EtherCAT bus - Google Patents
Robot compliance control system and method based on EtherCAT bus Download PDFInfo
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Abstract
The invention relates to a robot compliance control system based on an EtherCAT bus, comprising a master station, a robot driver, a motor and a torque sensor. The master station is connected with the robot driver through an EtherCAT bus, and the robot driver is connected with the motor and the torque sensor. The master station superposes motor periodic data acquired by the robot driver and a set expected value and carries out impedance control, and outputs a reference torque value to the robot driver. The invention provides an EtherCAT bus-based modular robot compliance control method which has the advantages of strong real-time performance, high reliability, low cost and small size, and the method adapts to the requirements of the modern robots in executing contact work. The system and the method completely obey the EtherCAT protocol, and can be mixed with other EtherCAT drivers in use. Therefore, the application range of the method is increased.
Description
Technical field
The present invention relates to a kind of modularization robot Shared control system and method based on EtherCAT bus communication technology, can be applicable to the Shared control of modularization robot。
Background technology
The research of modularization robot is always up the important research content in robot field。Adopting modular method for designing can improve the reusability of robot system, extensibility and be easy to maintenance, the development of, motility multi-functional particular with robot and fault-tolerance research, the modularity of joint of robot becomes core technology。But Robot Modular Joint inner space extremely limited be inevitable problem, and intra articular need integrated a large amount of electromechanical integration equipments, the number of cables being in this case accomplished by is many, and interference phenomenon often occurs。EtherCAT bus protocol is adopted can effectively to solve such problem。EtherCAT bus protocol is the industrial real-time ethernet network agreement of an opening, is currently have most practical meaning and be applicable to the open real-time industrial ethernet high-speed serial bus technology of motor control。
Along with the constantly extension in robot application field with to improving constantly that robot automtion requires, robot control method based on position control can not meet the application requirement of some complex environment in the past, contact force Real-time Feedback has become robot and has implemented to contact the part that operation is indispensable in unstructured moving grids with Shared control technology, even if in the environment that oneself knows, contact force Real-time Feedback and Shared control can significantly improve intelligence degree and the robustness of robot system, in addition, when robot has been operated in people's occasion for protection personal security, robot control system must possess power Real-time Feedback and Shared control function。
Shared control is broadly divided into two kinds: active and passive type。Robot is by processing force feedback information and adopting certain control strategy to go the mode of actively control action power to be called Active Compliance Control。Contrary robot does not only rely on, by force feedback, the compliant mechanisms such as tool that take this opportunity so that it is the mode being naturally obedient to contact environment is called passive compliance control。Impedance control is the one of Active Compliance Control。
Summary of the invention
The present invention relates to a kind of Shared control method of modularization robot based on EtherCAT bus communication technology, specifically a kind of EtherCAT of employing bus protocol and adopt the modularization robot control method of impedance control。
The technical solution used in the present invention is as follows: based on the robot Shared control system of EtherCAT bus, including main website, robot driver, motor and torque sensor；Main website is connected with robot driver by EtherCAT bus, and robot driver is connected with motor and torque sensor；
Described main website for receiving the position of robot driver, moment information carries out Shared control, and exports control information to robot driver；
Described robot driver controls torque and the position of motor for the drive command that control information is converted to motor, and motor joint angle is converted to positional information, the analog quantity of torque is converted to digital quantity feeds back to main website。
Described robot driver includes controller and connected power supply, status display circuit, RS232 telecommunication circuit；Characterized by further comprising be connected with controller electric-motor drive unit, Hall encoder circuit, code-disc circuit, band-type brake circuit, torque sensor bridge circuit, EtherCAT telecommunication circuit, I/O circuit；
Described electric-motor drive unit is connected with the motor of joint of robot；Hall encoder circuit is connected with the Hall encoder of motor；Described code-disc circuit is connected with the code-disc of joint of robot；Described band-type brake circuit is connected with the electromagnetic brake in joint of robot；Described torque sensor bridge circuit is connected with the torque sensor of joint of robot；Described EtherCAT telecommunication circuit is connected with host computer；Described I/O circuit is connected with the switch of joint of robot。
Described EtherCAT telecommunication circuit adopts ASIC data link layer chip。
Described torque sensor bridge circuit adopts amplifier, the reverse input end of amplifier, positive input are connected and respectively through capacity earth with the negative, positive pole of power supply respectively, positive input by resistance and positive voltage, be connected, and and between reverse input end, be connected with electric capacity；Being connected by adjustable resistance between two gain resistor ends, generating positive and negative voltage reference edge is connected with positive voltage, negative voltage and respectively through capacity earth respectively；The outfan of amplifier is connected with resistance and the electric capacity of sequential series, and electric capacity two ends are parallel with diode, diode positive ending grounding, and negative terminal is connected with power supply by another diode。
Described power output end is connected with the input of power conversion chip by diode, through resistance eutral grounding after the input shunt capacitance of power conversion chip；The outfan of power conversion chip is connected with between positive voltage with reference edge and is connected with diode in parallel and resistance, also by two capacity earths in parallel, is connected with resistance in parallel and electric capacity between reference edge with ground。
The input of described positive voltage, to the power input of power supply inverted chip, is connected with electric capacity in parallel between the outfan of power supply inverted chip with simulation ground, and outfan is connected with between negative voltage with ground and is connected with electric capacity in parallel。
Based on the robot Shared control method of EtherCAT bus, comprise the following steps:
The controller of robot driver initializes EtherCAT communication circuit parameter, passage and the method for synchronization；
The expected value of the motor periodic data that robot driver is gathered by main website and setting is overlapped and carries out impedance control obtaining, with reference to moment values, jointly exporting to robot driver with the reference position value set；
Event request register data in EtherCAT telecommunication circuit read by the controller of robot driver；If receiving the periodic data that main website transmits, being written to controller, it can be used as desired value to control motor rotation；Send the periodic data of motor to be converted to digital quantity by EtherCAT telecommunication circuit and feed back to main website simultaneously；
When the controller of robot driver receives from the interruption of EtherCAT telecommunication circuit and processes, enter application layer state machine, return controller and read event request register data step in EtherCAT telecommunication circuit。
Described periodic data includes position and the torque data of motor。
Described application layer state machine includes:
Original state be power supply can not on-state, get out, when the control command receiving main website then proceeds to, the state that switches on power, then proceed to power on state, then pass through operable state control motor work；
When motor is in jerk state, then proceed to power supply can not on-state or by operable state control motor stop；
When motor is in and makes mistakes reflection state, then proceeding to error status, returning power supply can not on-state。
The expected value of the motor periodic data that robot driver is gathered by described main website and setting is overlapped and carries out impedance control including step:
Operator's control crank, receives force information torque data changed through robot driver and sends desired position command and expected force；
Then the physical location that the desired locations of robot and robot driver feed back is done poor and obtained computing power by desired impedance model, as reference load after computing power is superposed with expected force, drawn with reference to joint moment by Jacobian matrix solution again, robot driver will be issued, it is achieved the impedance control to modularization robot with reference to joint moment。
The invention have the advantages that and advantage:
1. Shared control technology is applied in modularization robot by the present invention, modularization robot driver only realizes control and the high-speed communication of all modularized joints with an integrated joint driver, the reliability of joint action, real-time can be improved, with the transfer rate of master controller and transmission range, reduce joint component units, save overall cost and improve the compliance of modularization robot and make it can complete contact operation。
2. the present invention adopts the impedance adjustment can relation between more effective process tip displacement and contact force。
3. the present invention utilizes the excellent properties of EtherCAT technology, sets up ultrahigh speed and controls loop, and whole mechanical arm only needs a service cable and a bus cable。
4. the present invention writes application layer program based on the CoE function of EtherCAT agreement, it is achieved meet servo and the motion control function of CiA402 professional etiquette。
5. the present invention provides a kind of real-time, reliability is high, cost is low, volume is little modularization robot Shared control method based on EtherCAT bus, has adapted to modern machines people requirement in performing contact operation。And this invention is completely in accordance with EtherCAT agreement, it is possible to mix use with other EtherCAT drivers, thus improve the scope of application of the method。
6. the present invention can be processed circuit by built-in electric bridge, connects torque sensor, is changed by A/D, measures joint moment of torsion, and is sent to master controller, it is achieved the accurate power of joint and whole arm controls。
7. the present invention utilizes the excellent properties of EtherCAT technology, it is achieved the closed loop control of the location/velocity/electric current of per second thousand refresh rates and multiple motor, and whole mechanical arm only needs a service cable and a bus cable。
8. the present invention writes application layer program based on the CoE function of EtherCAT agreement, it is achieved meet servo and the motion control function of CiA402 professional etiquette。
9. the present invention sets up complete servosystem management state machine according to CiA402 standard, it is achieved the operation such as the state switching of servosystem, enable operation, error condition process。
Accompanying drawing explanation
Fig. 1 is the module map of the present invention；
Fig. 2 is impedance control conceptual scheme；
The functional unit that Fig. 3 is the present invention constitutes block diagram；
Fig. 4 is the EtherCAT telecommunication circuit block diagram of the present invention；
Fig. 5 a is torque sensor bridge circuit figure mono-；
Fig. 5 b is torque sensor bridge circuit figure bis-；
Fig. 5 c is torque sensor bridge circuit figure tri-；
Fig. 6 is controller software flow chart；
Fig. 7 is device driver managemen state machine schematic diagram。
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the present invention is described in further detail。
The present invention relates to a kind of Shared control method of modularization robot based on EtherCAT bus communication technology, including the control main website based on EtherCAT bus protocol, based on the slave station of EtherCAT bus protocol, torque sensor and motor。Utilize EtherCAT bus communication technology as communication modes, it is achieved the communication between main website, slave station, torque sensor, motor。Method by robot impedance control, robot end's power/position control is equivalent to " spring mass-damping " model, set up the relation of robot end's displacement and contact force, then pass through and arbitrarily regulate inertia, damping, stiffness parameters, thus realizing the Shared control to modularized joint。
Wherein, based on the modularization robot driver of EtherCAT, including controller and connected power supply, status display circuit, RS232 telecommunication circuit；The electric-motor drive unit that also includes being connected with controller, Hall encoder circuit, code-disc circuit, band-type brake circuit, torque sensor bridge circuit, EtherCAT telecommunication circuit, I/O circuit；
Described electric-motor drive unit is connected with the motor of joint of robot；Hall encoder circuit is connected with the Hall encoder of motor；Described code-disc circuit is connected with the code-disc of joint of robot；Described band-type brake circuit is connected with the electromagnetic brake in joint of robot；Described torque sensor bridge circuit is connected with the torque sensor of joint of robot；Described EtherCAT telecommunication circuit is connected with host computer；Described I/O circuit is connected with the switch of joint of robot。
Described EtherCAT telecommunication circuit adopts ASIC data link layer chip。
Described torque sensor bridge circuit adopts amplifier, the reverse input end of amplifier, positive input are connected and respectively through capacity earth with the negative, positive pole of power supply respectively, positive input by resistance and positive voltage, be connected, and and between reverse input end, be connected with electric capacity；Being connected by adjustable resistance between two gain resistor ends, generating positive and negative voltage reference edge is connected and respectively through capacity earth with positive and negative voltage respectively；The outfan of amplifier is connected with resistance and the electric capacity of sequential series, and electric capacity two ends are parallel with diode, diode positive ending grounding, and negative terminal is connected with power supply by another diode。
Described power output end is connected with the input of power conversion chip by diode, through resistance eutral grounding after the input shunt capacitance of power conversion chip；The outfan of power conversion chip is connected with between positive voltage with reference edge and is connected with diode in parallel and resistance, also by two capacity earths in parallel, is connected with resistance in parallel and electric capacity between reference edge with ground。
Positive voltage output end is connected with the power input of power supply inverted chip, is connected with electric capacity in parallel between the outfan of power supply inverted chip with simulation ground, and outfan is connected with between negative voltage with ground and is connected with electric capacity in parallel。
Based on the modularization robot control method of EtherCAT, comprise the following steps:
Controller initializes EtherCAT communication circuit parameter, passage and the method for synchronization；
Event request register data in EtherCAT telecommunication circuit read by controller；If receiving the periodic data that main website transmits, being written to controller, it can be used as reference value to control motor rotation；The periodic data simultaneously sending motor feeds back to main website by EtherCAT telecommunication circuit；
When controller reception from the interruption of EtherCAT telecommunication circuit and processes, enter application layer state machine, return controller and read event request register data step in EtherCAT telecommunication circuit。
Described periodic data includes position and the torque data of motor。
Based on the modularization robot control method of EtherCAT, described application layer state machine includes:
Original state be power supply can not on-state, get out, when the control command receiving main website then proceeds to, the state that switches on power, then proceed to power on state, then pass through operable state control motor work；
When motor is in jerk state, then proceed to power supply can not on-state or by operable state control motor stop；
When motor is in and makes mistakes reflection state, then proceeding to error status, returning power supply can not on-state。
Specific embodiments of the present invention are as follows:
As it is shown in figure 1, the present invention include based on EtherCAT bus protocol control main website, based on the slave station of EtherCAT bus protocol, torque sensor and motor。
The control main website of EtherCAT bus protocol adopts PC to add EtherCAT adapter, and model is HilscherCIFX50-RE, and the slave station based on EtherCAT bus protocol adopts ELMOG-WHI10/100EE。
Wherein, the described main website that controls based on EtherCAT bus protocol is connected with the slave station based on EtherCAT bus protocol, and motor is all connected with the slave station based on EtherCAT bus protocol with torque sensor。
It is connected with the torque electric bridge on slave station at torque sensor, completes analog digital conversion, and gained torque numerical value is issued main website, it is achieved the measurement to robot Yu environmental interaction power。
Modularization robot impedance control, by robot end's power/position control is equivalent to " spring mass-damping " model, sets up the relation of robot end's displacement and contact force。Then pass through and arbitrarily regulate inertia, damping, stiffness parameters, it is achieved adjust the relation of robot end position and contact force。This method is collision prevention, Constrained and provides a kind of unified method without constrained motion, and disturbance and uncertainty, by without the stable conversion being tied to Constrained motion, are had good robustness by the system that can realize。
Being impedance control conceptual scheme shown in Fig. 2, operator handles the handle being connected with main website, sends desired robot location's instruction and expectation contact force instruction。Then the physical location of the desired locations of robot and robot is inputted desired impedance model and calculate the computing power produced by site error, as end reference load after computing power is superposed with expected force, calculated with reference to joint moment by Jacobian matrix again, slave station will be issued, thus realizing the control to modularization robot with reference to joint moment。It addition, operator can also handle either directly through the man machine interface in main website, by the desired robot location's instruction of input through keyboard and expectation contact force instruction。Man machine interface can show the size of actual forces simultaneously。
Wherein set up robot desired impedance model as follows:
Wherein, Md、BdAnd KdThe respectively inertial matrix of desired impedance model, damping matrix and stiffness matrix。F is robot end to environment force, X,The respectively actual acceleration of the physical location of robot end, the actual speed of robot end, robot end, Xd、The respectively expectation acceleration of the desired locations of robot end, the desired speed of robot end, robot end。
A kind of modularized joint driver applying EtherCAT bus communication technology, including core controller, electric-motor drive unit, HALL encoder circuit, NRZ code-disc circuit, band-type brake circuit, torque sensor bridge circuit, RS232 telecommunication circuit, EtherCAT telecommunication circuit, power supply, status display circuit, STO and I/O circuit, application layer program。Method includes: perform program with core controller, runs algorithm, drive motor, completes three closed loops, it is achieved with main-machine communication；Data link layer and the physical layer communication of EtherCAT agreement is realized with ESC control chip and PHY chip；On core controller, coding realizes application level function。
As it is shown on figure 3, this device includes core controller 1, electric-motor drive unit 2, HALL encoder circuit 3, NRZ code-disc circuit 4, band-type brake circuit 5, torque sensor bridge circuit 6；RS232 telecommunication circuit 7, EtherCAT telecommunication circuit 8, power supply 9, status display circuit 10 and safe torque output (STO) I/O circuit 11。
Wherein, core controller, perform program, run algorithm, drive motor, complete three closed loops, with main-machine communication；EtherCAT circuit is the physical layer of 100 m ethernet, selects KS8721BL as PHY chip；RS232 circuit provides serial communication, uses during for debugging, can make driver and debugging host computer communication；Torque electric bridge coordinates torque sensor to use, and measures joint torque, it is achieved mould, number conversion, in order to make up torque sensor or circuit devcie parameter fluctuation that may be present, and design circuit gain adjustable and zero inclined；Driver is enabled signal output and amplifies by band-type brake drive circuit, drives perception direct current band-type brake；NRZ code-disc circuit coordinates multi-turn absolute value encoder, reads joint rotation angle, or connects other communication sensor；HALL encoder circuit connects motor hall signal, is suitable for most of DC brushless motors, completes motor commutation；Motor-drive circuit application PWM drive motor, regulates current of electric, and major loop chip adopts IRSM005-301MHTH, can significantly reduce circuit volume；I/O circuit completes to typically enter output function, produces torque, make robot meet the security requirement of security system when STO (safe torque shutoff) function prevents motor from stopping；Status display circuit is by display lamp display joint operation state；Power circuit conversion 24V unidirectional current for band-type brake, 5V unidirectional current for encoder, 3.3V and 1.8V unidirectional current for MCU, 2.5V unidirectional current for network transformer。
Fig. 3 is the EtherCAT telecommunication circuit block diagram of the present invention。Its core is MCU chip PIC24C16MJ306A, and the main program of joint drive controller all runs wherein。The converter circuit that MCU chip is made up of IRSM005-301MH special motor driving PWM Interface Controller；Being realized EtherCAT with ESC chip communication communicated by SPI interface or synchronization, asynchronous interface, wherein ET1200 chip plays the effect of packing protocol data；In physical layer, with PHY chip KS8721BL for core, it is aided with peripheral circuit。One complete EtherCAT slave station is thus built。
Host computer can adopt high performance industry control PC, and slave computer adopts the servo control system based on DSP, is carried out the transmission of information between upper and lower computer by EtherCAT。Each modularized joint controls system and is mainly made up of parts such as DSP servo motion controller, EtherCAT bus interface circuit, DC brushless motor and brake drivings。Set frame mechanical arm controls communication and is all based on real-time bus, not only simplifies wiring, also can realize the entire variable control system of high speed, high reliability。
Fig. 4 is EtherCAT communication physical layer circuit diagram。It includes PHY chip U1, and its model is KS8721BL；Including the RJ45 joint J1 of network transformer chip, its model is HY911168C；Peripheral configuration circuit such as RP1, RP2, R1 to R7 and power filtering capacitor C1 to C14。In Fig. 3, circuit needs 2.5VDC and 3.3VDC power supply, power circuit provide。U1 is connected with MCU by pins such as MIDATA, MICLK and RXD [0 ... 3], it is achieved MII communicates。U1 is connected by TX+, TX-, RX+ and RX-and J1, by the network transformer in RJ45 joint, inputs a signal into, exports。
As shown in Fig. 5 a～5c, J1 connect torque sensor foil gauge, have 8V to power, simulate ground, sign+ and sign-four tunnel electrical connection。Wherein sign+ is just connecting bridge signal, and sign-connects bridge signal and bears。U1 is AD620 precision instrumentation amplifier, is constituted electric bridge amplifying circuit with it for core。Exporting for the signal after amplifying at R3。VR1 can regulate signal gain, and VR2 can regulate signal zero biasing。D1, D2 are clamp diode, and ADC prevents voltage from inputting threshold value more than DSP。P1 and peripheral circuit thereof transfer input+24V to+8V。U2 and peripheral circuit thereof transfer input+8V to-8V。C1 to C10, E1 to E5 are filter capacitor。
In invention, ESC control chip realizes the data link layer operation of EtherCAT, realizes the application layer of whole system by writing application program on the microprocessor。Application layer includes following task: initialize microprocessor, ESC chip register and communication variables；Process EtherCAT state machine: query State controller, read associated configuration register, start or terminate relevant communication services；Process device driver managemen state machine: query driven device current state, according to demand driver is switched to corresponding state, completes driver under each state and operate accordingly；Periodically with the process of aperiodicity data: driver processes periodic data and various non-periodic event with query pattern or synchronous mode。
According to above-mentioned application layer mission requirements, the present invention has write corresponding application program。
As shown in Figure 6, operate in query pattern for driver, application layer program is illustrated。The application program of driver is divided into initialization program and two parts of main circulating program。In initialization section, program completes the related hardware of microprocessor and ESC chip and initializes, and EtherCAT agreement correlated variables initializes and reads the operations such as ESC event request depositor。In major cycle part, first program processes periodic data, then processes the state machine of EtherCAT, next inquires about and process non-periodic event, finally can inquire about and process the device driver managemen state machine of application layer。
As shown in Figure 6, this driver has formulated equipment control state machine according to CiA402 servo-driver professional etiquette。EtherCAT agreement itself defines physical layer and data link layer protocol, supports CANopen consensus standard, i.e. CoE (CANopenoverEtherCAT) at application layer EtherCAT。CiA402 is the professional etiquette standard formulated for servo and motor control industry in CANopen family of standards。State machine shown in Fig. 5 is formulated according to CiA402 professional etiquette just, the triggered step of each state of its specified in more detail and performed operation。After only associative operation is correctly completed, driver just can be switched to new state。
According to Fig. 7, drive the state of equipment to be divided into Three Estate from low to high, in each grade, complete different work。In region a, the low-level power supply of driver enables, and namely the control circuit of low-voltage powers on, and power section does not power on, and driver is in preparation state。In the B of region, the high level power supply of driver enables, and namely high-tension motor circuit powers on, but now motor does not have torque output, and driver is in power on and has started to power supply state。In the C of region, equipment is fully prepared, and motor has torque to export, and driver is in mode of operation。Additionally, figure also has jerk, the reaction that makes mistakes, the state such as make mistakes, for tackling during servosystem runs the mistake being likely encountered, and recovery from error condition。
Main website is transferred to slave station controls the state of slave station by writing control word, and slave station feeds back oneself current state by status word。The unripe state that switches on power (state 1) of incipient stage belongs to a momentary status, and whole communication network be can't see this state；On-state (state 2) equipment un-activation can not be driven at power supply, driving equipment can be made to be switched to get out the state that switches on power by changing corresponding control word；Getting out the state (state 3) that switches on power, driving equipment is activated, and control circuit starts power supply, can arbitrarily change driving device parameter, change corresponding control word and driving equipment can be made to be switched to power on state under this state；In power on state (state 4), drive equipment dynamic circuit to power on, but also not to motor output voltage, driving device parameter under this state, can be changed, but equipment is by return state 3 after change, changes corresponding control word and driving equipment can be made to enter operable state；In operable state (state 5), driving equipment to motor output voltage, motor brings into operation；If motor operationally runs into emergency stop command, then enter jerk state (state 6), this state is a transitive state, according to drive device parameter arrange it can switch back into operable state (state 5) or be switched to power supply can not on-state (state 2)；In any stage that equipment runs, as long as there is mistake, entrance is made mistakes reactive state (state 7) by driving equipment, and this state will transition to error status (state 8) and finally returns that power supply can not on-state (state 2)。
Claims (10)
1. based on the robot Shared control system of EtherCAT bus, it is characterised in that: include main website, robot driver, motor and torque sensor；Main website is connected with robot driver by EtherCAT bus, and robot driver is connected with motor and torque sensor；
Described main website for receiving the position of robot driver, moment information carries out Shared control, and exports control information to robot driver；
Described robot driver controls torque and the position of motor for the drive command that control information is converted to motor, and motor joint angle is converted to positional information, the analog quantity of torque is converted to digital quantity feeds back to main website。
2. the robot Shared control system based on EtherCAT bus according to claim 1, it is characterised in that described robot driver includes controller (1) and connected power supply (9), status display circuit (10), RS232 telecommunication circuit (7)；Characterized by further comprising be connected with controller (1) electric-motor drive unit (2), Hall encoder circuit (3), code-disc circuit (4), band-type brake circuit (5), torque sensor bridge circuit (6), EtherCAT telecommunication circuit (8), I/O circuit (11)；
Described electric-motor drive unit (2) is connected with the motor of joint of robot；Hall encoder circuit (3) is connected with the Hall encoder of motor；Described code-disc circuit (4) is connected with the code-disc of joint of robot；Described band-type brake circuit (5) is connected with the electromagnetic brake in joint of robot；Described torque sensor bridge circuit (6) is connected with the torque sensor of joint of robot；Described EtherCAT telecommunication circuit (8) is connected with host computer；Described I/O circuit (11) is connected with the switch of joint of robot。
3. by the robot Shared control system based on EtherCAT bus described in claim 2, it is characterised in that described EtherCAT telecommunication circuit (8) adopts ASIC data link layer chip。
4. by the robot Shared control system based on EtherCAT bus described in claim 2, it is characterized in that described torque sensor bridge circuit (6) adopts amplifier, the reverse input end of amplifier, positive input are connected and respectively through capacity earth with the negative, positive pole of power supply respectively, positive input by resistance and positive voltage, be connected, and and between reverse input end, be connected with electric capacity；Being connected by adjustable resistance between two gain resistor ends, generating positive and negative voltage reference edge is connected with positive voltage, negative voltage and respectively through capacity earth respectively；The outfan of amplifier is connected with resistance and the electric capacity of sequential series, and electric capacity two ends are parallel with diode, diode positive ending grounding, and negative terminal is connected with power supply by another diode。
5. by the robot Shared control system based on EtherCAT bus described in claim 2, it is characterized in that described power supply (9) outfan is connected with the input of power conversion chip by diode, through resistance eutral grounding after the input shunt capacitance of power conversion chip；The outfan of power conversion chip is connected with between positive voltage with reference edge and is connected with diode in parallel and resistance, also by two capacity earths in parallel, is connected with resistance in parallel and electric capacity between reference edge with ground。
6. by the robot Shared control system based on EtherCAT bus described in claim 4 or 5, it is characterized in that the described positive voltage input power input to power supply inverted chip, being connected with electric capacity in parallel between the outfan of power supply inverted chip with simulation ground, outfan is connected with between negative voltage with ground and is connected with electric capacity in parallel。
7. based on the robot Shared control method of EtherCAT bus, it is characterised in that comprise the following steps:
The controller (1) of robot driver initializes EtherCAT telecommunication circuit (8) parameter, passage and the method for synchronization；
The expected value of the motor periodic data that robot driver is gathered by main website and setting is overlapped and carries out impedance control obtaining, with reference to moment values, jointly exporting to robot driver with the reference position value set；
EtherCAT telecommunication circuit (8) interior event request register data read by the controller (1) of robot driver；If receiving the periodic data that main website transmits, being written to controller (1), it can be used as desired value to control motor rotation；Send the periodic data of motor to be converted to digital quantity by EtherCAT telecommunication circuit (8) and feed back to main website simultaneously；
When the controller (1) of robot driver receives from the interruption of EtherCAT telecommunication circuit (8) and processes, enter application layer state machine, return controller (1) and read EtherCAT telecommunication circuit (8) interior event request register data step。
8. by the modularization robot control method based on EtherCAT described in claim 7, it is characterised in that described periodic data includes position and the torque data of motor。
9. by the modularization robot control method based on EtherCAT described in claim 7, it is characterised in that described application layer state machine includes:
Original state be power supply can not on-state, get out, when the control command receiving main website then proceeds to, the state that switches on power, then proceed to power on state, then pass through operable state control motor work；
When motor is in jerk state, then proceed to power supply can not on-state or by operable state control motor stop；
When motor is in and makes mistakes reflection state, then proceeding to error status, returning power supply can not on-state。
10. by the modularization robot control method based on EtherCAT described in claim 7, it is characterised in that the expected value of the motor periodic data that robot driver is gathered by described main website and setting is overlapped and carries out impedance control including step:
Operator's control crank, receives force information torque data changed through robot driver and sends desired position command and expected force；
Then the physical location that the desired locations of robot and robot driver feed back is done poor and obtained computing power by desired impedance model, as reference load after computing power is superposed with expected force, drawn with reference to joint moment by Jacobian matrix solution again, robot driver will be issued, it is achieved the impedance control to modularization robot with reference to joint moment。
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN107538483A (en) * | 2016-06-28 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | Distributed robot's control system |
| CN107901044A (en) * | 2017-12-29 | 2018-04-13 | 上海交通大学 | The drive control integral system of joint of robot |
| CN108345263A (en) * | 2017-12-29 | 2018-07-31 | 神华集团有限责任公司 | Process unit sequence method and system |
| CN108638052A (en) * | 2018-03-29 | 2018-10-12 | 南京航空航天大学 | A kind of closed chain formula multi-arm robot Shared control method |
| CN108687776A (en) * | 2017-04-05 | 2018-10-23 | 大族激光科技产业集团股份有限公司 | A kind of robot control system |
| CN108838522A (en) * | 2018-06-13 | 2018-11-20 | 上海柏楚电子科技股份有限公司 | The control system of laser cutting head based on the movement of EtherCAT bus multi-axial Simultaneous |
| CN108972601A (en) * | 2018-08-10 | 2018-12-11 | 佛山科学技术学院 | A kind of end effector perceiving three-dimensional force |
| CN109062032A (en) * | 2018-10-19 | 2018-12-21 | 江苏省（扬州）数控机床研究院 | A kind of robot PID impedance control method based on Approximate dynamic inversion |
| CN109840240A (en) * | 2018-12-31 | 2019-06-04 | 武汉芯动科技有限公司 | Chip, distributed computing devices and method |
| CN110412921A (en) * | 2019-08-09 | 2019-11-05 | 山东大学 | Robot list leg high real-time control system based on EtherCAT |
| CN110508706A (en) * | 2019-09-18 | 2019-11-29 | 福州中澳科技有限公司 | Punching press producing line robot automatic loading and unloading system and its control method |
| CN110801368A (en) * | 2019-11-19 | 2020-02-18 | 中国医科大学附属盛京医院 | Universal motion control device and control method for rehabilitation robot |
| CN113799116A (en) * | 2020-06-12 | 2021-12-17 | 深圳市优必选科技股份有限公司 | Direct force feedback control method and device, controller and robot |
| CN114102605A (en) * | 2021-12-21 | 2022-03-01 | 哈尔滨工业大学 | Dexterous hand real-time control system based on EtherCAT |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107538483A (en) * | 2016-06-28 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | Distributed robot's control system |
| CN106647573A (en) * | 2016-11-01 | 2017-05-10 | 清能德创电气技术（北京）有限公司 | Synchronous control system for servo driver |
| CN106647573B (en) * | 2016-11-01 | 2020-06-19 | 清能德创电气技术（北京）有限公司 | Servo driver synchronous control system |
| CN108687776A (en) * | 2017-04-05 | 2018-10-23 | 大族激光科技产业集团股份有限公司 | A kind of robot control system |
| CN107901044A (en) * | 2017-12-29 | 2018-04-13 | 上海交通大学 | The drive control integral system of joint of robot |
| CN108345263A (en) * | 2017-12-29 | 2018-07-31 | 神华集团有限责任公司 | Process unit sequence method and system |
| CN108638052A (en) * | 2018-03-29 | 2018-10-12 | 南京航空航天大学 | A kind of closed chain formula multi-arm robot Shared control method |
| CN108638052B (en) * | 2018-03-29 | 2020-12-25 | 南京航空航天大学 | Closed-chain multi-arm robot compliance control method |
| CN108838522A (en) * | 2018-06-13 | 2018-11-20 | 上海柏楚电子科技股份有限公司 | The control system of laser cutting head based on the movement of EtherCAT bus multi-axial Simultaneous |
| CN108838522B (en) * | 2018-06-13 | 2020-07-03 | 上海柏楚电子科技股份有限公司 | Laser cutting head control system based on EtherCAT bus multi-axis synchronous motion |
| CN108972601A (en) * | 2018-08-10 | 2018-12-11 | 佛山科学技术学院 | A kind of end effector perceiving three-dimensional force |
| CN108972601B (en) * | 2018-08-10 | 2024-03-26 | 佛山科学技术学院 | End effector capable of sensing three-dimensional force |
| CN109062032A (en) * | 2018-10-19 | 2018-12-21 | 江苏省（扬州）数控机床研究院 | A kind of robot PID impedance control method based on Approximate dynamic inversion |
| CN109062032B (en) * | 2018-10-19 | 2021-08-31 | 江苏省（扬州）数控机床研究院 | Robot PID variable impedance control method based on approximate dynamic inverse |
| CN109840240A (en) * | 2018-12-31 | 2019-06-04 | 武汉芯动科技有限公司 | Chip, distributed computing devices and method |
| CN110412921A (en) * | 2019-08-09 | 2019-11-05 | 山东大学 | Robot list leg high real-time control system based on EtherCAT |
| CN110412921B (en) * | 2019-08-09 | 2021-07-27 | 山东大学 | Robot single-leg high-real-time control system based on EtherCAT |
| CN110508706A (en) * | 2019-09-18 | 2019-11-29 | 福州中澳科技有限公司 | Punching press producing line robot automatic loading and unloading system and its control method |
| CN110508706B (en) * | 2019-09-18 | 2024-04-05 | 福州中澳科技集团股份有限公司 | Automatic feeding and discharging system of stamping production line robot and control method thereof |
| CN110801368A (en) * | 2019-11-19 | 2020-02-18 | 中国医科大学附属盛京医院 | Universal motion control device and control method for rehabilitation robot |
| CN113799116B (en) * | 2020-06-12 | 2022-07-29 | 深圳市优必选科技股份有限公司 | Direct force feedback control method and device, controller and robot |
| CN113799116A (en) * | 2020-06-12 | 2021-12-17 | 深圳市优必选科技股份有限公司 | Direct force feedback control method and device, controller and robot |
| CN114102605B (en) * | 2021-12-21 | 2023-11-24 | 哈尔滨工业大学 | EtherCAT-based smart hand real-time control system |
| CN114102605A (en) * | 2021-12-21 | 2022-03-01 | 哈尔滨工业大学 | Dexterous hand real-time control system based on EtherCAT |
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