CN106426184A - Robot control system - Google Patents
Robot control system Download PDFInfo
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- CN106426184A CN106426184A CN201611144437.8A CN201611144437A CN106426184A CN 106426184 A CN106426184 A CN 106426184A CN 201611144437 A CN201611144437 A CN 201611144437A CN 106426184 A CN106426184 A CN 106426184A
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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
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- Automation & Control Theory (AREA)
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- Software Systems (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Control By Computers (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses a robot control system which comprises a dual-core processor, wherein the dual-core processor comprises an advanced reduced instruction set computer machine (ARM) processor and a digital signal processor (DSP). According to the robot control system, an ARM+DSP control strategy is adopted; a conventional control mode of industrial computer PC+movement control card+servo drive+servo motor is replaced; an ARM is responsible for movement planning and track planning of a robot; the DSP is responsible for dynamic and kinematic calculation of the robot, the strong calculation performance of the DSP and the peripheral control property of the ARM are sufficiently utilized, and due to the function distribution, the expense of a main control chip can be effectively reduced, a relatively great amount of resources can be used for controlling the security and the precision of the control system, and the cost performance can be greatly improved; the robot control system has EtherNet and pulse analog quantity control modes which can be selected by users, and a servo drive and a servo motor applicable to multiple control modes are provided, so that control methods can be conveniently switched by the users, and relatively good universality can be achieved.
Description
Technical field
The present invention relates to Embedded computer system technical field, and in particular to a kind of robot control system.
Background technology
The six degree of freedom special motion controller hardware platform of Xian Electronics Science and Technology University's exploitation adopts ARM+FPGA framework,
On the one hand the control to multiple motors is realized using bus mode, specific bottom layer driving is completed by smart machine, can be to setting
Standby state, fault etc. carry out real-time detection；On the other hand, the sampling functions of external sensor have been come by miscellaneous function chip FPGA
Become, and the ARM microcontroller as main control chip is then to obtain, by external interface, the data for needing when needing.
But prior art has the disadvantage that：
1), using ARM as robot dynamics's arithmetic element so that when system does large-scale complex computing, efficiency is low
Under；
2), control mode is single, only supporting bus communication or Sing plus Analog control mode, underaction.
Content of the invention
In view of this, in order to solve the problems referred to above of the prior art, the present invention proposes a kind of robot control system, energy
The expense of main control chip is effectively reduced, and control mode compares freedom and flexibility, the servo for being suitable for multiple control modes is driven
Dynamic device and servomotor.
The present invention is solved the above problems by following technological means：
A kind of robot control system, including dual core processor, dual core processor is deposited with network communication module, data respectively
Storage module, monitoring module, network communication servo-driver, pulse generating module, the connection of DAC D/A converter module；Network communication
Module is connected with host computer；Pulse generating module is connected with pulse command servo-driver；DAC D/A converter module and analog quantity
Instruction servo-driver connection；Network communication servo-driver is connected with servomotor；Servomotor also respectively with pulse command
Servo-driver, analog quantity instruction servo-driver, robot, encoder connection；Also include power management module；
The power management module is used for providing power supply to control system；
The dual core processor includes first processor, second processing device；Enter between first processor and second processing device
Row data communication；
The first processor is used for being responsible for motion planning, trajectory planning and the peripheral control of robot；
The second processing device is used for being responsible for kinetics and kinematics operation and the closed loop control of robot；
The host computer is used for the control mode of user operation selection control system, and control mode includes network communication control
Mode, pulse command control mode, analog quantity instruction control mode；
The network communication module is used for realizing host computer with the high efficiency communication of control system child node；
The data memory module is used for storing various data；
The monitoring module is used for temperature, voltage and the electric current of detecting and controlling system；
The network communication servo-driver is used for driving servomotor according to the network signal for receiving；
The pulse generating module is used for sending corresponding pulse command according to the pulse generation instruction for receiving；
The pulse command driver is used for driving servomotor according to the pulse command for receiving；
The DAC D/A converter module is used for for the digital command for receiving changing analog quantity instruction；
The analog quantity instruction servo-driver is used for according to the analog quantity order-driven servomotor for receiving；
The servomotor makes corresponding mechanical action for driven machine people；
The encoder realizes closed loop fortune for gathering the operational factor Real-time Feedback on servomotor to dual core processor
Calculate.
Further, the first processor is arm processor, and second processing device is dsp processor.
Further, the network communication module realizes the efficiently logical of host computer and control system child node by Ethernet
News, the network communication servo-driver drives servomotor according to the ethernet signal for receiving.
Further, the robot control system also includes the serial port module being connected with dual core processor, the serial ports
Module is connected with external equipment for realizing control system using the expansion interface of serial communication mode.
Further, the robot control system also includes the display module being connected with dual core processor, the display
Module is used for showing the status data of reflection control system.
Further, the robot control system also includes the extension I/O module being connected with dual core processor, the expansion
Exhibition I/O module carries out data analysiss or exchange for control system with external equipment.
Further, the power management module is powered low pressure 5V to network communication module, to other modules of control system
Power supply low pressure 3.3V.
Compared with prior art, beneficial effects of the present invention are as follows：
1), the present invention is taken full advantage of each using ARM as peripheral control and detection, DSP completion system kinetics computing
From advantage, simplified control system, cost performance is increased substantially；
2), the present invention can achieve high-speed data exchange and networking using EhtherNet；
3), the present invention possesses EtherNet and Pulse analog control mode is for selection, control mode relatively freely spirit
Living, it is suitable for servo-driver and the servomotor of multiple control modes.
Description of the drawings
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below will be to making needed for embodiment description
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the structural representation of robot control system embodiment 1 of the present invention；
Fig. 2 is the structural representation of robot control system embodiment 2 of the present invention.
Specific embodiment
Understandable for enabling the above objects, features and advantages of the present invention to become apparent from, below in conjunction with accompanying drawing and specifically
Embodiment technical scheme is described in detail.It is pointed out that described embodiment is only this
Bright a part of embodiment, rather than whole embodiments, based on the embodiment in the present invention, those of ordinary skill in the art are not having
There is the every other embodiment for being obtained under the premise of making creative work, belong to the scope of protection of the invention.
Embodiment 1
As shown in figure 1, the present invention provides a kind of robot control system, including dual core processor, dual core processor is respectively
With network communication module, data memory module, monitoring module, network communication servo-driver, pulse generating module, DAC digital-to-analogue
Modular converter connects；Network communication module is connected with host computer；Pulse generating module is connected with pulse command servo-driver；
DAC D/A converter module is connected with analog quantity instruction servo-driver；Network communication servo-driver is connected with servomotor；Watch
Take motor to be also connected with pulse command servo-driver, analog quantity instruction servo-driver, robot, encoder respectively；Also wrap
Include power management module.
The power management module is used for providing power supply to control system, and power management module is low-tension supply, power supply pipe
Reason module is powered low pressure 5V to network communication module, to other module for power supply low pressure 3.3V of control system.
The dual core processor adopts F28M36P63C2, and dual core processor includes first processor, second processing device；The
Between one processor and second processing device, data communication is carried out by IPC；First processor is arm processor, second processing device
For dsp processor, arm processor is for being responsible for motion planning, trajectory planning and the peripheral control of robot, and dsp processor is used
Kinetics and kinematics operation and closed loop control in responsible robot.
The host computer is used for the control mode of user operation selection control system, and control mode includes network communication control
Mode, pulse command control mode, analog quantity instruction control mode, facilitate the real-time switching control mode of user, control mode ratio
Relatively flexible, servo-driver and the servomotor of multiple control modes can be adopted, versatility is stronger.
The network communication servo-driver is used for driving servomotor according to the network signal for receiving；The pulse generation
Module is used for sending corresponding pulse command according to the pulse generation instruction for receiving；The pulse command driver is connect for basis
The pulse command of receipts drives servomotor；The DAC D/A converter module is used for referring to the digital command transformation analog quantity of reception
Order；Circuit is using the generation of DAC8871 chip realization ± 10V analog quantity voltage；The analog quantity instruction servo-driver is used for
According to the analog quantity order-driven servomotor for receiving；The servo for being applicable to multiple control modes is selected to drive according to control mode
Dynamic device and servomotor, when using network communication mode, network communication circuit unit is effective, when using pulse command controlling party
During formula, pulse generating circuit unit is effective, and when using Analog control mode, DAC-circuit enables effective.
The servomotor makes corresponding mechanical action for driven machine people.
The network communication module is used for realizing host computer and the high efficiency communication of control system child node, using EtherNET
Bus mode, realizes host computer logical with servosystem with robot control system child node high efficiency communication or control system
News, EtherNet PORT COM circuit is realized using LAN8710 and H1102 net mouth transformer.
The monitoring module is used for temperature, voltage and the electric current of detecting and controlling system.
The data memory module is used for storing various data, including the various parameters of monitoring module detection.
The encoder realizes closed loop fortune for gathering the operational factor Real-time Feedback on servomotor to dual core processor
Calculate.Operational factor on servomotor is fed back to control system by orthogonal encoder on robot servo motors in real time
System, realizes closed loop computing.
The present invention adopts ARM+DSP control strategy, replaces industrial computer PC+ motion control card+servo in traditional approach
Driver+Serve Motor Control mode, ARM is responsible for the motion planning of robot and trajectory planning, and dsp processor is then responsible for machine
The kinetics of device people and kinematics operation, take full advantage of the peripheral control ability of the powerful operational capability of DSP and ARM.
Such function distribution can effectively reduce the expense of main control chip, and more resources are used for control system safety and accurate
Control, cost performance can increase substantially.
The present invention possesses EtherNet and Pulse analog control mode is available for user's selection, is suitable for multiple control modes
Servo-driver and servomotor, facilitate the real-time method for handover control of user, versatility is stronger.
The workflow of the present invention is as follows：
User is first by the control mode of upper computer selecting control system, and control mode may be selected network communication controlling party
Formula, pulse command control mode, analog quantity instruction control mode, network communication module realizes host computer with control system child node
High efficiency communication, dual core processor F28M36P63C2 includes arm processor, dsp processor, arm processor and dsp processor
Between data communication can be carried out by IPC, arm processor is used for being responsible for the motion planning of robot, trajectory planning and contains outward
System, dsp processor is used for being responsible for kinetics and kinematics operation and the closed loop control of robot, when selection network communication controlling party
During formula, network communication circuit unit is effective, and dual core processor sends the signal to network communication by EtherNET bus mode
Servo-driver, network communication servo-driver drives servomotor band mobile robot to make accordingly according to the network signal for receiving
Mechanical action；When pulse command control mode is selected, pulse generating circuit unit is effective, and dual core processor sends pulse and sends out
Life instructs pulse generating module, and pulse generating module sends corresponding pulse command, arteries and veins according to the pulse generation instruction for receiving
Punching instruction servo-driver drives servomotor band mobile robot to make corresponding mechanical action according to the pulse command for receiving；When
When selecting analog quantity instruction control mode, DAC-circuit is enabled effectively, and dual core processor sends digital command to DAC digital-to-analogue conversion
Module, the digital command for receiving is changed analog quantity instruction by DAC D/A converter module, and analog quantity instruction servo-driver is according to connecing
The analog quantity order-driven servomotor band mobile robot of receipts makes corresponding mechanical action, and monitoring module is used for detecting control system
The temperature of system, voltage and electric current, data memory module is used for storing various data, including each seed ginseng of monitoring module detection
Number, encoder realizes closed loop computing for gathering the operational factor Real-time Feedback on servomotor to dual core processor.
Embodiment 2
As shown in Fig. 2 the present invention also provides robot control system described in a kind of robot control system, in embodiment 1
On the basis of also include the serial port module that is connected with dual core processor, the serial port module is used for the expansion using serial communication mode
Exhibition interface is realized control system and is connected with external equipment.
The robot control system also includes the display module being connected with dual core processor, and the display module is used for showing
Show the status data of reflection control system.
The robot control system also includes the extension I/O module being connected with dual core processor, and the extension I/O module is used
Data analysiss or exchange are carried out in control system with external equipment.
Compared with prior art, beneficial effects of the present invention are as follows：
1), the present invention is taken full advantage of each using ARM as peripheral control and detection, DSP completion system kinetics computing
From advantage, simplified control system, cost performance is increased substantially；
2), the present invention can achieve high-speed data exchange and networking using EhtherNet；
3), the present invention possesses EtherNet and Pulse analog control mode is for selection, control mode relatively freely spirit
Living, it is suitable for servo-driver and the servomotor of multiple control modes.
Embodiment described above only have expressed the several embodiments of the present invention, and its description is more concrete and detailed, but simultaneously
The restriction that therefore can not be interpreted as to the scope of the claims of the present invention.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, some deformation can also be made and improved, these belong to the guarantor of the present invention
Shield scope.Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (7)
1. a kind of robot control system, it is characterised in that including dual core processor, dual core processor respectively with network communication mould
Block, data memory module, monitoring module, network communication servo-driver, pulse generating module, the connection of DAC D/A converter module；
Network communication module is connected with host computer；Pulse generating module is connected with pulse command servo-driver；DAC D/A converter module
It is connected with analog quantity instruction servo-driver；Network communication servo-driver is connected with servomotor；Servomotor also respectively with
Pulse command servo-driver, analog quantity instruction servo-driver, robot, encoder connection；Also include power management module；
The power management module is used for providing power supply to control system；
The dual core processor includes first processor, second processing device；Enter line number between first processor and second processing device
According to communication；
The first processor is used for being responsible for motion planning, trajectory planning and the peripheral control of robot；
The second processing device is used for being responsible for kinetics and kinematics operation and the closed loop control of robot；
The host computer is used for the control mode of user operation selection control system, and control mode includes network communication controlling party
Formula, pulse command control mode, analog quantity instruction control mode；
The network communication module is used for realizing host computer with the high efficiency communication of control system child node；
The data memory module is used for storing various data；
The monitoring module is used for temperature, voltage and the electric current of detecting and controlling system；
The network communication servo-driver is used for driving servomotor according to the network signal for receiving；
The pulse generating module is used for sending corresponding pulse command according to the pulse generation instruction for receiving；
The pulse command driver is used for driving servomotor according to the pulse command for receiving；
The DAC D/A converter module is used for for the digital command for receiving changing analog quantity instruction；
The analog quantity instruction servo-driver is used for according to the analog quantity order-driven servomotor for receiving；
The servomotor makes corresponding mechanical action for driven machine people；
The encoder realizes closed loop computing for gathering the operational factor Real-time Feedback on servomotor to dual core processor.
2. robot control system according to claim 1, it is characterised in that the first processor is arm processor,
Second processing device is dsp processor.
3. robot control system according to claim 1, it is characterised in that the network communication module passes through Ethernet
The high efficiency communication of host computer and control system child node is realized, the network communication servo-driver is according to the Ethernet letter for receiving
Number driving servomotor.
4. robot control system according to claim 1, it is characterised in that the robot control system also include with
The serial port module of dual core processor connection, the serial port module is used for realizing control system using the expansion interface of serial communication mode
System is connected with external equipment.
5. robot control system according to claim 1, it is characterised in that the robot control system also include with
The display module of dual core processor connection, the display module is used for showing the status data of reflection control system.
6. robot control system according to claim 1, it is characterised in that the robot control system also include with
The extension I/O module of dual core processor connection, the extension I/O module be used for control system and external equipment carry out data analysiss or
Exchange.
7. robot control system according to claim 1, it is characterised in that the power management module is to network communication
Module for power supply low pressure 5V, to other module for power supply low pressure 3.3V of control system.
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| CN107065784A (en) * | 2017-05-09 | 2017-08-18 | 杭州电子科技大学 | Online multistage method of adjustment is realized in high-speed motion for Cartesian robot |
| CN107291016A (en) * | 2017-07-31 | 2017-10-24 | 深圳市鸿栢科技实业有限公司 | A kind of control system applied to industrial robot |
| CN107309877A (en) * | 2017-07-31 | 2017-11-03 | 中科新松有限公司 | The control system of quadruped robot |
| CN107479481A (en) * | 2017-08-03 | 2017-12-15 | 佛山市宏石激光技术有限公司 | Ku Ka robots flexibly control the methods, devices and systems of third party's servomotor |
| CN108052063A (en) * | 2017-12-18 | 2018-05-18 | 珠海格力节能环保制冷技术研究中心有限公司 | Control system, control chip and robot |
| CN108255174A (en) * | 2017-12-20 | 2018-07-06 | 北京理工华汇智能科技有限公司 | robot path planning method and device |
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| CN107065784A (en) * | 2017-05-09 | 2017-08-18 | 杭州电子科技大学 | Online multistage method of adjustment is realized in high-speed motion for Cartesian robot |
| CN107309877B (en) * | 2017-07-31 | 2021-06-11 | 中科新松有限公司 | Control system of quadruped robot |
| CN107291016A (en) * | 2017-07-31 | 2017-10-24 | 深圳市鸿栢科技实业有限公司 | A kind of control system applied to industrial robot |
| CN107309877A (en) * | 2017-07-31 | 2017-11-03 | 中科新松有限公司 | The control system of quadruped robot |
| CN107479481A (en) * | 2017-08-03 | 2017-12-15 | 佛山市宏石激光技术有限公司 | Ku Ka robots flexibly control the methods, devices and systems of third party's servomotor |
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| CN109947539A (en) * | 2017-12-20 | 2019-06-28 | 广州中国科学院先进技术研究所 | A kind of robot controller |
| CN108255174B (en) * | 2017-12-20 | 2021-03-16 | 北京理工华汇智能科技有限公司 | Robot path planning method and device |
| CN110221550A (en) * | 2018-04-04 | 2019-09-10 | 固高科技(深圳)有限公司 | Robot system |
| CN108809192A (en) * | 2018-06-07 | 2018-11-13 | 江苏江荣智能科技有限公司 | A kind of parameter self-tuning control system for permanent-magnet synchronous motor |
| CN108809192B (en) * | 2018-06-07 | 2020-12-04 | 江苏江荣智能科技有限公司 | Parameter self-tuning permanent magnet synchronous motor control system |
| CN109558174A (en) * | 2018-11-28 | 2019-04-02 | 江苏艾萨克机器人股份有限公司 | RTOS-GPOS dual operating systems robot controller based on ZYNQ dual core processor |
| CN111273612A (en) * | 2018-12-04 | 2020-06-12 | 广州中国科学院先进技术研究所 | Mobile robot motion controller |
| CN109500820A (en) * | 2018-12-25 | 2019-03-22 | 合肥欣奕华智能机器有限公司 | A kind of robot control system, robot motion's method for monitoring state and robot |
| CN110262499B (en) * | 2019-06-27 | 2022-04-05 | 北京埃索特核电子机械有限公司 | Synchronous control method for double mobile robots |
| CN110262499A (en) * | 2019-06-27 | 2019-09-20 | 北京埃索特核电子机械有限公司 | A kind of two-track mobile robot synchronous control system and method |
| WO2021027009A1 (en) * | 2019-08-15 | 2021-02-18 | 深圳先进技术研究院 | Combined drive and control machine, and robot drive and control system |
| CN110515358A (en) * | 2019-08-26 | 2019-11-29 | 杭州芯控智能科技有限公司 | Automatic production line concurrent control system and control method based on integrated controller |
| CN112581850A (en) * | 2019-09-27 | 2021-03-30 | 李晓华 | Virtual debugging system of multifunctional production line and equipment |
| CN111230885A (en) * | 2020-03-03 | 2020-06-05 | 中山早稻田科技有限公司 | Intelligent cooperative robot control system, method and storage medium |
| CN111421547A (en) * | 2020-04-13 | 2020-07-17 | 深圳市强华科技发展有限公司 | Industrial robot control system and control method thereof |
| CN111813026A (en) * | 2020-07-28 | 2020-10-23 | 安徽鑫创源机器人科技有限公司 | ROS robot drive plate |
| CN113848812A (en) * | 2021-09-03 | 2021-12-28 | 珠海格力智能装备有限公司 | Robot control method, control device and control system |
| CN113848812B (en) * | 2021-09-03 | 2023-12-08 | 珠海格力智能装备有限公司 | Robot control method, control device and control system |
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