CN106041929B - A kind of control method for six-DOF robot - Google Patents
A kind of control method for six-DOF robot Download PDFInfo
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- CN106041929B CN106041929B CN201610473531.1A CN201610473531A CN106041929B CN 106041929 B CN106041929 B CN 106041929B CN 201610473531 A CN201610473531 A CN 201610473531A CN 106041929 B CN106041929 B CN 106041929B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
The embodiment of the invention discloses a kind of control method for six-DOF robot, it is related to automatic control technology field, the computing capability of industrial robot on the basis of industrial robot control efficiency is improved, can be strengthened.The present invention includes：At least six nodes, each node include the DSP Control cards on servomechanism, and loading servomechanism；Physical connection is carried out by bus between each node, bus is using Ethernet buses and forms microLAN progress information transfer.After any node in control system starts, detect whether as cluster-head G；If then starting token initialization procedure, if not then waiting token initialization directive to reach.After the completion of token initialization, detection currently needs to send with the presence or absence of data to be sent；If so, data to be sent are then sent when token reaches；If otherwise sending token information, and the process after the completion of token initialization is circulated, until control system is closed.The present invention is applied to the control system of six-DOF robot.
Description
Technical field
The present invention relates to automatic control technology field, more particularly to a kind of control method for six-DOF robot.
Background technology
Because DSP (motion control board) economy is higher, and reliability disclosure satisfy that most production environment
It is required that therefore the industrial robot that is widely used at present generally use the scheme of PC+DSP motion control boards.The opposing party
Face, due to the limitation of DSP design performance so that the control performance of the control system of industrial robot is limited to DSP performances,
In practical application, the controllable number of axle is limited to greatly 6 axles or so.
And in recent years, with the development of PC technology, the control system based on PC bus design has evolved to can be with
Control 21 axles even 27 axles.But because the performance of dsp board card does not have larger improvement, still using PC+DSP
The host-guest architecture design of board, can cause PC load to increase severely；And due in the host-guest architecture design of PC+dsp board card, leading to
News use wire harness mode, and when node increases, wire harness quantity can also increase severely therewith, strong influence control performance, and add
Maintenance cost；Due also in the host-guest architecture design of PC+dsp board card, data storage is past when PC breaks down in PC
Toward whole control system function can be caused to lose, and if be related to PC shutdown during regular maintenance, whole control system all must
It must shut down, and then cause the entire production line to stall, cost is very high；The information to be circulated when node increases in control system
It can increase severely, so as to cause information storage chaotic, so as to cause system mistake.These problems have resulted in existing PC+DSP fortune
The scheme of dynamic Control card is difficult on the basis of industrial robot control efficiency is improved, the load pressure of effective control main frame,
The computing capability difficulty of industrial robot has further improvement space.
The content of the invention
Embodiments of the invention provide a kind of control method for six-DOF robot, it is possible to increase industrial robot
On the basis of control efficiency, mitigate the load pressure of main frame, strengthen the computing capability of industrial robot.
To reach above-mentioned purpose, embodiments of the invention adopt the following technical scheme that：
For a kind of method of control system, the control system includes：At least six nodes, each node include watching
Take the DSP Control cards on device, and loading servomechanism；Physical connection is carried out by bus between each node, the bus uses
Ethernet buses simultaneously form microLAN progress information transfer.
Methods described includes：After any node in the control system starts, detect whether as cluster-head G；If
Then start token initialization procedure, if not then waiting token initialization directive to reach.
After the completion of token initialization, detection currently needs to send with the presence or absence of data to be sent；If so, then when token arrives
Up to when send the data to be sent；If otherwise sending token information, and the process after the completion of token initialization is circulated, until institute
State control system closing.
Also include shared memory (GS) in each node, wherein, the shared memory in each node is logically
Possess unified address space, the shared memory in each node physically takes at least six block address spaces altogether, it is described at least
In at least six nodes of the six block address spatial distributions in the control system.It is global by the Ethernet bus broadcasts
Property data, and by each node by the data storage of overall importance to the shared memory；Pass through the Ethernet buses pair
The modification information of modification data of the whole network broadcast for shared memory, wherein, access of each node to shared memory uses
P-V interlock modes；
Also include privately owned memory block (PS) in each node, wherein, the privately owned memory block in each node is logically
Possess mutually different address space, the privately owned memory block in each node physically takes at least six block address spaces, institute altogether
State at least six nodes of at least six block address spatial distributions in the control system.One node storage, safeguard and repair
Change the data in the privately owned memory block of this node；And by privately owned in described another node of Ethernet bus access
Data in memory block.
Process after the completion of the token initialization, in addition to：In each detection cycle, whether one of node is detected
The token information is received, wherein, the detection cycle is more than what data frame stream on the token-ring network circled
Time；If the detection cycle when exceeding the time limit one of node do not receive the token information, competition produces new order
Board, and new token is circulated on the token-ring network, other nodes judge that continuation is competing according to the generation number of the new token
Strive or exit, and the node for producing new token obtains information transmission route first；If exist on one of node than current
The generation number of token renewal, then abandon former token, when the token information passes one of node back, changes token number
For the generation number of the renewal.
Control method provided in an embodiment of the present invention for six-DOF robot, the how main parallel construction design of use,
It is made up of " node " servo unit and controller, each servo unit carries independent controller, so as to solve PC+dsp board
The problem of PC load increases severely in the host-guest architecture design of card, and solve wire harness quantity when node increases and can also increase severely therewith
The problem of；Using bus communicate between node (controller of i.e. each servo unit), and inter-node communication is patrolled using token ring
The token ring logical design for carrying out communication choice is collected, also can be acute so as to solve the information to be circulated when node increases in control system
Increase, so as to cause information to store the problem of chaotic；On the basis of how main parallel construction, using the overall situation on information flow distribution -- it is all
Person designs.Specifically in information flow distribution, information classification is carried out using the overall situation-owner's structure；Wherein, according to information classification feelings
Condition, global information carry out shared storage in common storage area；According to information classification situation, owner information enters in each node
The privately owned storage of row, so as to solve in the design of the host-guest architecture of PC+dsp board card, data storage is in PC, when event occurs for PC
The problem of whole control system function is lost is frequently can lead to during barrier.Compared with prior art, the present invention is based on existing bus
Technology and Token Ring network technologies, six axle controls are carried out to Six-DOF industrial robot using distributed communication, established complete
Token access control strategy, the overall situation-owner's resource control scheme.This method have realize it is simple, using convenient, and and its
His bus compatible, the characteristics of being easy to expand.On the basis of it can improve industrial robot control efficiency, mitigate the load of main frame
Pressure, strengthen the computing capability of industrial robot.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, it will use below required in embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other attached
Figure.
Fig. 1 is the physical arrangement schematic diagram for the six-DOF robot distributed component scheduling that the present embodiment provides；
Fig. 2 is the example schematic for the token ring communication choice scheme that the present embodiment provides；
Fig. 3 is the token frame structural representation that the present embodiment provides；
Fig. 4 is the communication choice flow chart that the present embodiment provides；
Fig. 5 is that the component that the present embodiment provides shares Stored Procedure figure；
Fig. 6 is the Stored Procedure figure for the component private data that the present embodiment provides.
Embodiment
To make those skilled in the art more fully understand technical scheme, below in conjunction with the accompanying drawings and specific embodiment party
Formula is described in further detail to the present invention.Embodiments of the present invention are described in more detail below, the embodiment is shown
Example is shown in the drawings, wherein same or similar label represents same or similar element or has identical or class from beginning to end
Like the element of function.Embodiment below with reference to accompanying drawing description is exemplary, is only used for explaining the present invention, and can not
It is construed to limitation of the present invention.Those skilled in the art of the present technique are appreciated that unless expressly stated, odd number shape used herein
Formula " one ", "one", " described " and "the" may also comprise plural form.It is to be further understood that the specification of the present invention
The middle wording " comprising " used refers to the feature, integer, step, operation, element and/or node be present, but it is not excluded that
In the presence of or other one or more features of addition, integer, step, operation, element, node and/or their groups.It should be understood that
When we claim element to be " connected " or during " coupled " to another element, it can be directly connected or coupled to other elements, or
There may also be intermediary element.In addition, " connection " used herein or " coupling " can include wireless connection or coupling.Here make
Wording "and/or" includes any cell of one or more associated list items and all combined.The art
Technical staff is appreciated that unless otherwise defined all terms (including technical term and scientific terminology) used herein have
With the general understanding identical meaning of the those of ordinary skill in art of the present invention.It is it should also be understood that such as general
Those terms defined in dictionary, which should be understood that, has the meaning consistent with the meaning in the context of prior art, and
Unless being defined as here, will not be explained with the implication of idealization or overly formal.
The embodiment of the present invention provides a kind of control method for six-DOF robot, and methods described is used for a kind of as schemed
Control system shown in 1, the control system include：At least six nodes, each node include servomechanism, and loading servo
DSP Control cards on device；Physical connection is carried out by bus between each node, the bus is using Ethernet buses and is formed
MicroLAN carries out information transfer.Wherein, control system as shown in Figure 1 is made on the basis of using how main parallel construction
Inter-node communication is carried out with bus, to make six-DOF robot realize the distributed AC servo system of load balancing.
Methods described includes：
After any node in the control system starts, detect whether as cluster-head G；If it is initial then to start token
Change process, if not then waiting token initialization directive to reach.
After the completion of token initialization, detection currently needs to send with the presence or absence of data to be sent；If so, then when token arrives
Up to when send the data to be sent；If otherwise sending token information, and the process after the completion of token initialization is circulated, until institute
State control system closing.
Such as：It is as shown in Figure 4, can be with after bus communication is carried out using Ethernet buses described in the present embodiment
The process of communication choice is carried out using token ring logic, including：In system it is any economize on electricity start after, be first according to whether be
Node G carries out token initialization, if node G then originates token initialization procedure, if not node G then waits token to initialize
Instruction reaches.Then token initialization is waited to complete.After the completion of token initialization, into token link maintenance, number be present
In the case of sending, data are sent when token reaches, otherwise just only send token information, then carry out token link again
Maintenance phase, so circulation, until terminating network link.
In the present embodiment, shared memory (GS) is also included in each node, wherein, shared in each node is deposited
Storage area, which logically possesses, unifies address space, and the shared memory in each node physically takes at least six block address sky altogether
Between, at least six nodes of at least six block address spatial distributions in the control system.Specifically, by described
Ethernet bus broadcasts data of overall importance, and by each node by the data storage of overall importance to the shared memory.It is logical
Cross the modification information that the Ethernet buses broadcast the whole network the modification data for shared memory.
In the present embodiment, the mode that global information carries out shared storage includes：GS is opened up in each node as shown in Figure 1
(Global Storage, shared memory), data of overall importance carry out broadcast transmission by Ethernet buses, and each node is shared
Memory block stores to data of overall importance.Logically shared memory possesses unified address space, physically shares and deposits
Storage area takes 6 block address spaces altogether, is distributed in 6 nodes.Wherein, access of each node to shared memory is mutual using P-V
Lock mode, the modification to shared memory data will be broadcasted the whole network by bus.
Further, as shown in figure 5, the flow of shared storage is carried out in each node to be included：Entered in node with Flash
Row data storage.If global memory block in node be present, directly use, if being not present, open up global memory block
Global_Data.Then bus data is monitored, if there is global data write-in in bus, starting P-V operations, in node
Global data rewritten.If this node is modified to global data, after P-V operations, amended data are sent
Onto bus.
In the present embodiment, also privately owned memory block (PS) is included in each node, wherein, privately owned in each node is deposited
Storage area logically possesses mutually different address space, and the privately owned memory block in each node physically takes at least six pieces altogether
Address space, at least six nodes of at least six block address spatial distributions in the control system.Specifically, one
Data in node storage, the privately owned memory block safeguarded and change this node.And pass through the Ethernet bus access
The data in privately owned memory block in another node.
In the present embodiment, carrying out the mode of privately owned storage includes：PS is opened up in each node as shown in Figure 1
(Private Storage, privately owned memory block), private data is stored, safeguarded and changed by each node, it is necessary to enter row information
During interaction, initiate to communicate by requesting party, the owner is responded.Further, as shown in fig. 6, being carried out in each node privately owned
The process of data storage includes：Data storage is carried out with Flash in node.If owner memory block in node be present,
Then directly use, if being not present, open up owner memory block Private_Data.Then bus data is monitored, if in bus
On there is the data manipulation of this node, then judge its authority.If its authority not operated to this node owner's data,
Then refuse, be then back to bus data monitoring.If it has the authority operated to this node owner's data, with global number
According to equally being read and write and changed operation accordingly.
In the present embodiment, the token initialization procedure includes：
Initialization token message is generated by cluster-head G, and is sent to G neighbor node I at random, and informs that G is group to I
First node, while mark its descendant node that I is G.After I receives the initialization token message, I its descendant node is marked,
The process of its descendant node of repeating label on each node, until the G that the neighbor node K that G receives G is sent is the follow-up of K
After node messages, determine that token-ring network is established and finish, the network address of the token-ring network is G MAC Address.
Such as：As shown in Fig. 2 token priority order is defined between 6 nodes.Then token passes successively between each node
Pass.Wherein, token initialization procedure is token-ring network forming process.The cluster-head G defined by realization is responsible for generation one
Token message is initialized, neighbor node I is sent at random, informs website headed by G, while it is its descendant node to mark I, I is received
After message, it is marked using same way, after the G that G receives its neighbor node K transmissions is K descendant node message, token
Loop network is formed.The network address of the token ring is G MAC Address.
Process after the completion of the token initialization, including：
I is zero first by data frame packetI token position when sending data, and sends data frame.An if section
Point, which has data to be sent, to be needed to send, then when one node forwards the data frame packetI, by the data frame
PacketI token position be this node label, when the data frame packetI returns to I, by transmission route deliver to
This node.
Such as：Data transfer procedure based on token includes：Node I is when sending data first by data frame packetI
Token position zero, data frame is sent., will when it forwards packetI if node J has data to send
PacketI token position is J, and when packetI returns to inode, node I knows that J has data transmission, then delivers transmission route
To J.If token is sky, illustrate now to send data without other nodes, I can continue data transmission.
Process after the completion of the token initialization, in addition to：
In each detection cycle, detect whether one of node receives the token information, wherein, the detection cycle
More than the one data frame time that stream circles on the token-ring network.If wherein one described in when the detection cycle is exceeded the time limit
Individual node does not receive the token information, then competition produces new token, and new token is circulated on the token-ring network,
Other nodes judge to continue to compete or exit according to the generation number of the new token, and the node for producing new token obtains letter first
Cease transmission route.If the generation number than current token renewal on one of node be present, former token is abandoned, when the order
When board information passes one of node back, change token number is the generation number of the renewal.
Specifically, because network is likely to occur node missing or the situation of interference, the loss or multiple of token may be caused
Token occurs, therefore also needs to safeguard token.Wherein, the time to be confirmed (detection cycle) is waited to have to be larger than a number
The time Tsend to be walked one week on ring according to frame, if token is not lost, the node will necessarily receive for the second time, so as to keep away
Exempt to produce new token.If exceeding the time limit not receive, competition produces new token.For new token when being run on ring, other nodes can
To judge that continuing competition still exits according to the generation number of token.If a certain node has a generation than current token renewal
Number, then a certain node is claimed as its token number, abandons former token, when token goes back to the node, token number occurs and becomes
Change, just knowing has the token of a renewal, so as to exit competition.After ring one week, new token produces token.Produce new token
Node obtain information transmission route first.
In the present embodiment, the frame structure of token includes in the token information：Frame control field, ring address, purpose
Address, source address, sequence number, formation sequence number, next node address for obtaining token, data to be sent, reception data
Response bit, cyclic redundancy error correcting code.Wherein, the frame control field is used to represent to define frame type, and the ring address is used for table
Token-ring network belonging to explicit order board, 1 and token-ring network is returned to when token often just adds up by sequence number described in node
Reset during the initiator of network, the formation sequence initial value is 0, and token circulates one week in token-ring network, then formation sequence
Number cumulative 1.
Such as：As shown in figure 3, it is a kind of possible example of token frame structure in the present embodiment, wherein each field definition is such as
Under：
FC：Frame control field (Frame Control).Define frame type, the token as representing, special token, data
Frame, setting is leading, sets follow-up etc..
RA：(Ring Address) shows which token-ring network token belongs to for ring address, to distinguish in different token rings
Token.
DA：Destination address (Destination Address) represents the node address if token frame, then DA, if
Frame is data frame, then DA represents the destination address for sending data.
SA：Source address (Source Address).
Seq：Sequence number (Sequence Number) initial value is 0, and when token often passes through a node, sequence number just adds
1, when returning to the initiator of token ring, Seq is just reset.
GenSeq：Formation sequence number (Generation Sequence) initial value is 0, token circulation one week, claims sequence
Number just plus 1.
NRA：Next node address (Next Ring Address) for obtaining token.
Data：The data of transmission, in a data frame effectively.
ACK：Data response bit is received, in a data frame effectively.
CRC：Cyclic redundancy error correcting code, in a data frame effectively.
Wherein, global information and owner information are classified according to its degree of association, are carried out in system design stage global
The definition of information and owner information.Such as shown in table 1, the sorting technique based on the overall situation-owner's structure in the present embodiment is entered
The partial data of row robot control system classification.
Table 1
The present embodiment can be applied to Six-DOF industrial robot, it can also be used to similar other robot, this method with
Physical layer concrete implementation model has no direct contact, only requires that drive module can be achieved with EBI.It can answer extensively
In system design for various robots.
Control method provided in an embodiment of the present invention for six-DOF robot, the how main parallel construction design of use,
It is made up of " node " servo unit and controller, each servo unit carries independent controller, so as to solve PC+dsp board
The problem of PC load increases severely in the host-guest architecture design of card, and solve wire harness quantity when node increases and can also increase severely therewith
The problem of；Using bus communicate between node (controller of i.e. each servo unit), and inter-node communication is patrolled using token ring
The token ring logical design for carrying out communication choice is collected, also can be acute so as to solve the information to be circulated when node increases in control system
Increase, so as to cause information to store the problem of chaotic；On the basis of how main parallel construction, using the overall situation on information flow distribution -- it is all
Person designs.Specifically in information flow distribution, information classification is carried out using the overall situation-owner's structure；Wherein, according to information classification feelings
Condition, global information carry out shared storage in common storage area；According to information classification situation, owner information enters in each node
The privately owned storage of row, so as to solve in the design of the host-guest architecture of PC+dsp board card, data storage is in PC, when event occurs for PC
The problem of whole control system function is lost is frequently can lead to during barrier.Compared with prior art, the present invention is based on existing bus
Technology and Token Ring network technologies, six axle controls are carried out to Six-DOF industrial robot using distributed communication, established complete
Token access control strategy, the overall situation-owner's resource control scheme.This method have realize it is simple, using convenient, and and its
His bus compatible, the characteristics of being easy to expand.On the basis of it can improve industrial robot control efficiency, mitigate the load of main frame
Pressure, strengthen the computing capability of industrial robot.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment stressed is the difference with other embodiment.It is real especially for equipment
For applying example, because it is substantially similar to embodiment of the method, so describing fairly simple, related part is referring to embodiment of the method
Part explanation.The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited to
This, any one skilled in the art the invention discloses technical scope in, the change that can readily occur in or replace
Change, should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claim
Enclose and be defined.
Claims (6)
1. a kind of control method for six-DOF robot, it is characterised in that methods described is used for a kind of control system, institute
Stating control system includes：At least six nodes, each node include the DSP Control cards on servomechanism, and loading servomechanism；
Physical connection is carried out by bus between each node, the bus, which uses Ethernet buses and forms microLAN, enters row information
Transmission；
Methods described includes：
After any node in the control system starts, detect whether as cluster-head G；
If then starting token initialization procedure, if not then waiting token initialization directive to reach；
After the completion of token initialization, detection currently needs to send with the presence or absence of data to be sent；
If so, the data to be sent are then sent when token reaches；If otherwise sending token information, and circulate token initialization
After the completion of process, until the control system close.
2. control method according to claim 1, it is characterised in that also include privately owned memory block in each node
(PS), wherein, the privately owned memory block in each node logically possesses mutually different address space, and privately owned in each node is deposited
Storage area physically takes at least six block address spaces altogether, and at least six block address spatial distributions are in the control system
In at least six nodes；
Data in one node storage, the privately owned memory block safeguarded and change this node；
And pass through the data in the privately owned memory block in described another node of Ethernet bus access.
3. control method according to claim 1, it is characterised in that the token initialization procedure includes：
Initialization token message is generated by cluster-head G, and is sent to G neighbor node I at random, and informs that G is cluster section to I
Point, while mark its descendant node that I is G；
After I receives the initialization token message, I its descendant node is marked, its is follow-up for repeating label on each node
The process of node, until G receive G neighbor node K send G be K descendant node message after, determine token-ring network establish
Finish, the network address of the token-ring network is G MAC Address.
4. control method according to claim 3, it is characterised in that the process after the completion of the token initialization, including：
I is zero first by data frame packetI token position when sending data, and sends data frame；
If a node, which has data to be sent, to be needed to send, when one node forwards the data frame packetI,
, will when the data frame packetI returns to I by the label that the token position of the data frame packetI is this node
Transmission route is delivered to this node.
5. control method according to claim 3, it is characterised in that the process after the completion of the token initialization, also wrap
Include：
In each detection cycle, detect whether one of node receives the token information, wherein, the detection cycle is more than
The one data frame time that stream circles on the token-ring network；
If the detection cycle when exceeding the time limit one of node do not receive the token information, competition produces new order
Board, and new token is circulated on the token-ring network, other nodes judge that continuation is competing according to the generation number of the new token
Strive or exit, and the node for producing new token obtains information transmission route first；
If the generation number than current token renewal on one of node be present, former token is abandoned, when the token is believed
When breath passes one of node back, change token number is the generation number of the renewal.
6. according to the control method described in any one in claim 1-5, it is characterised in that the token in the token information
Frame structure include：Frame control field, ring address, destination address, source address, sequence number, formation sequence number, next made
The node address of board, data to be sent, receive data response bit, cyclic redundancy error correcting code；
Wherein, the frame control field is used to represent to define frame type, and the ring address is used to show the token ring belonging to token
Network, 1 and reset when token often just adds up by sequence number described in node when returning to the initiator of token-ring network, institute
Formation sequence initial value is stated as 0, token circulates one week in token-ring network, then formation sequence number adds up 1.
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| CN109471713B (en) * | 2017-09-07 | 2022-11-08 | 北京京东尚科信息技术有限公司 | Method and device for inquiring information |
| US10624707B2 (en) * | 2017-09-18 | 2020-04-21 | Verb Surgical Inc. | Robotic surgical system and method for communicating synchronous and asynchronous information to and from nodes of a robotic arm |
| US10779901B2 (en) | 2017-09-18 | 2020-09-22 | Verb Surgical Inc. | Robotic surgical system having a communication network of a ring topology and method for use therewith |
| CN110071860B (en) * | 2019-04-01 | 2021-11-09 | 达闼机器人有限公司 | Robot communication method, robot communication system and robot |
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