CN106426184B - A kind of robot control system - Google Patents
A kind of robot control system Download PDFInfo
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- CN106426184B CN106426184B CN201611144437.8A CN201611144437A CN106426184B CN 106426184 B CN106426184 B CN 106426184B CN 201611144437 A CN201611144437 A CN 201611144437A CN 106426184 B CN106426184 B CN 106426184B
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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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- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control By Computers (AREA)
- Numerical Control (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses a kind of robot control systems, including dual core processor, dual core processor includes arm processor and dsp processor, the present invention uses ARM+DSP control strategy, replace industrial computer PC+ motion control card+servo-driver+Serve Motor Control mode in traditional approach, ARM is responsible for the motion planning and trajectory planning of robot, dsp processor is then responsible for the dynamics and kinematics operation of robot, take full advantage of the powerful operational capability of DSP and the peripheral control ability of ARM, such function distribution can effectively reduce the expense of main control chip, more resources are used for control system safety and are accurately controlled, cost performance can increase substantially, the present invention has EtherNet and Pulse analog control mode for user's selection, it is suitable for The servo-driver and servo motor of multiple control modes, facilitate the real-time method for handover control of user, and versatility is stronger.
Description
Technical field
The present invention relates to Embedded computer system technical fields, and in particular to a kind of robot control system.
Background technique
The six degree of freedom special motion controller hardware platform of Xian Electronics Science and Technology University's exploitation uses ARM+FPGA framework,
On the one hand control to multiple motors is realized using bus mode, specific bottom layer driving is completed by smart machine, can be to setting
Standby state, failure etc. are measured in real time；On the other hand, the sampling functions of external sensor are by miscellaneous function chip FPGA Lai complete
At, and the ARM microcontroller as main control chip then only obtains the data needed by external interface when needed.
But the prior art has the following disadvantages:
1), using ARM as robot dynamics' arithmetic element, so that low efficiency when system does large-scale complex operation
Under；
2), control mode is single, and only supporting bus communication or Sing plus Analog control mode, inflexible.
Summary of the invention
In view of this, in order to solve the above problem in 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 servo motor.
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 are deposited with network communication module, data respectively
Store up module, monitoring module, network communication servo-driver, pulse generating module, the connection of DAC D/A converter module；Network communication
Module is connect with host computer；Pulse generating module is connect with pulse command servo-driver；DAC D/A converter module and analog quantity
Instruct servo-driver connection；Network communication servo-driver is connect with servo motor；Servo motor also respectively with pulse command
Servo-driver, analog quantity instruction servo-driver, robot, encoder connection；It further include power management module；
The power management module is used to provide power supply to control system；
The dual core processor includes first processor, second processor；Between first processor and second processor into
Row data communication；
The first processor is used to be responsible for the motion planning, trajectory planning and peripheral control of robot；
The second processor is used to be responsible for the dynamics and kinematics operation and closed-loop control of robot；
The host computer is used for the control mode of user's operation selection control system, and control mode includes network communication control
Mode, pulse command control mode, analog quantity instruct control mode；
The network communication module for realizing host computer and control system child node high efficiency communication；
The data memory module is 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 drives servo motor for network signal based on the received；
The pulse generating module issues corresponding pulse command for the instruction of pulse generation based on the received；
The pulse command driver drives servo motor for pulse command based on the received；
The DAC D/A converter module is used for the transformation analog quantity instruction of received digital command；
The analog quantity instruction servo-driver is for analog quantity order-driven servo motor based on the received；
The servo motor is for driving robot to make corresponding mechanical action；
The encoder is used to acquire the operating parameter Real-time Feedback on servo motor to dual core processor, realizes closed loop fortune
It calculates.
Further, the first processor is arm processor, and second processor is dsp processor.
Further, the network communication module realizes that host computer and the efficient of control system child node lead to by Ethernet
News, ethernet signal drives servo motor to the network communication servo-driver based on the received.
Further, the robot control system further includes the serial port module connecting with dual core processor, the serial ports
Module is used to realize that control system is connected with external equipment using the expansion interface of serial communication mode.
Further, the robot control system further includes the display module connecting with dual core processor, the display
Module is used to show the status data of reflection control system.
Further, the robot control system further includes the extension I/O module connecting with dual core processor, the expansion
Exhibition I/O module carries out data analysis with external equipment for control system or exchanges.
Further, the power management module is to network communication module power supply low pressure 5V, to other modules of control system
Power low pressure 3.3V.
Compared with prior art, beneficial effects of the present invention are as follows:
1), for the present invention using ARM as peripheral control and detection, DSP completes system dynamics operation, takes full advantage of each
From advantage, simplified control system, cost performance increases substantially；
2), the present invention can realize high-speed data exchange and networking using EhtherNet；
3), the present invention has EtherNet and Pulse analog control mode is for selection, control mode relatively freely spirit
It is living, it is suitable for the servo-driver and servo motor of multiple control modes.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the structural schematic diagram of robot control system embodiment 1 of the present invention；
Fig. 2 is the structural schematic diagram of robot control system embodiment 2 of the present invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with attached drawing and specifically
Embodiment technical solution of the present invention is described in detail.It should be pointed out that described embodiment is only this hair
Bright a part of the embodiment, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present 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 difference
With network communication module, data memory module, monitoring module, network communication servo-driver, pulse generating module, DAC digital-to-analogue
Conversion module connection；Network communication module is connect with host computer；Pulse generating module is connect with pulse command servo-driver；
DAC D/A converter module is connect with analog quantity instruction servo-driver；Network communication servo-driver is connect with servo motor；It watches
Motor is taken also to connect 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 to provide power supply to control system, and power management module is low-tension supply, power supply pipe
Module is managed to network communication module power supply low pressure 5V, to other module for power supply low pressure of control system 3.3V.
The dual core processor uses F28M36P63C2, and dual core processor includes first processor, second processor；The
Data communication is carried out by IPC between one processor and second processor；First processor is arm processor, second processor
For dsp processor, arm processor is used to be responsible for the motion planning, trajectory planning and peripheral control of robot, and dsp processor is used
In the dynamics and kinematics operation of being responsible for robot and closed-loop control.
The host computer is used for the control mode of user's operation selection control system, and control mode includes network communication control
Mode, pulse command control mode, analog quantity instruct control mode, facilitate the real-time switching control mode of user, control mode ratio
Relatively flexibly, the servo-driver and servo motor of multiple control modes can be used, versatility is stronger.
The network communication servo-driver drives servo motor for network signal based on the received；The pulse generation
Module issues corresponding pulse command for the instruction of pulse generation based on the received；The pulse command driver is used for basis and connects
The pulse command of receipts drives servo motor；The DAC D/A converter module is used to refer to received digital command transformation analog quantity
It enables；Circuit uses the generation of DAC8871 chip realization ± 10V analog quantity voltage；The analog quantity instruction servo-driver is used for
Analog quantity order-driven servo motor based on the received；It is driven according to the servo that control mode selection is applicable to multiple control modes
Dynamic device and servo motor, when using network communication mode, network communication circuit unit is effective, when using pulse command controlling party
When formula, pulse generating circuit unit is effective, and when using Analog control mode, DAC circuit is enabled effective.
The servo motor is for driving robot to make corresponding mechanical action.
The network communication module for realizing host computer and control system child node high efficiency communication, using EtherNET
Bus mode realizes the logical of host computer and robot control system child node high efficiency communication or control system and servo-system
News, EtherNet PORT COM circuit are 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 for storing various data, the various parameters including monitoring module detection.
The encoder is used to acquire the operating parameter Real-time Feedback on servo motor to dual core processor, realizes closed loop fortune
It calculates.The orthogonal encoder in robot servo motors is mounted in real time by the operating parameter feedback on servo motor to control system
System realizes closed loop operation.
The present invention uses ARM+DSP control strategy, replaces industrial computer PC+ motion control card+servo in traditional approach
Driver+Serve Motor Control mode, ARM are responsible for the motion planning and trajectory planning of robot, and dsp processor is then responsible for machine
The dynamics and kinematics operation of device people takes full advantage of the powerful operational capability of DSP and the peripheral control ability of 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 has EtherNet and Pulse analog control mode for user's selection, is suitable for multiple control modes
Servo-driver and servo motor, facilitate the real-time method for handover control of user, versatility is stronger.
Workflow of the invention is as follows:
User passes through the control mode of upper computer selecting control system first, and network communication controlling party may be selected in control mode
Formula, pulse command control mode, analog quantity instruct control mode, and network communication module realizes host computer and 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 to be responsible for the motion planning of robot, trajectory planning and contains outside
System, dsp processor are used to be responsible for the dynamics and kinematics operation and closed-loop control of robot, when selection network communication controlling party
When 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 based on the received make accordingly by network signal driving servo motor band mobile robot
Mechanical action；When selecting pulse command control mode, pulse generating circuit unit is effective, and dual core processor issues pulse hair
Pulse generating module is arrived in raw instruction, and pulse generation instruction issues corresponding pulse command, arteries and veins to pulse generating module based on the received
Pulse command driving servo motor band mobile robot makes corresponding mechanical action to punching instruction servo-driver based on the received；When
When selecting analog quantity instruction control mode, DAC circuit is enabled effectively, and dual core processor issues digital command to DAC digital-to-analogue conversion
Module, DAC D/A converter module instruct received digital command transformation analog quantity, and analog quantity instructs servo-driver according to connecing
The analog quantity order-driven servo motor band mobile robot of receipts makes corresponding mechanical action, and monitoring module is for detecting control system
Temperature, voltage and the electric current of system, data memory module is for storing various data, each seed ginseng including monitoring module detection
Number, encoder are used to acquire the operating parameter Real-time Feedback on servo motor to dual core processor, realize closed loop operation.
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 further include the serial port module being connect with dual core processor, the serial port module is used for the expansion using serial communication mode
Exhibition interface realizes that control system is connected with external equipment.
The robot control system further includes the display module connecting with dual core processor, and the display module is for showing
Show the status data of reflection control system.
The robot control system further includes the extension I/O module connecting with dual core processor, and the extension I/O module is used
Data analysis is carried out with external equipment in control system or is exchanged.
Compared with prior art, beneficial effects of the present invention are as follows:
1), for the present invention using ARM as peripheral control and detection, DSP completes system dynamics operation, takes full advantage of each
From advantage, simplified control system, cost performance increases substantially；
2), the present invention can realize high-speed data exchange and networking using EhtherNet；
3), the present invention has EtherNet and Pulse analog control mode is for selection, control mode relatively freely spirit
It is living, it is suitable for the servo-driver and servo motor of multiple control modes.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (7)
1. a kind of robot control system, which is characterized 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 connect with host computer；Pulse generating module is connect with pulse command servo-driver；DAC D/A converter module
It is connect with analog quantity instruction servo-driver；Network communication servo-driver is connect with servo motor；Servo motor also respectively with
Pulse command servo-driver, analog quantity instruction servo-driver, robot, encoder connection；It further include power management module；
The power management module is used to provide power supply to control system；
The dual core processor includes first processor, second processor；It is counted between first processor and second processor
According to communication；
The first processor is used to be responsible for the motion planning, trajectory planning and peripheral control of robot；
The second processor is used to be responsible for the dynamics and kinematics operation and closed-loop control of robot；
The host computer is used for the control mode of user's operation selection control system, and control mode includes network communication controlling party
Formula, pulse command control mode, analog quantity instruct control mode；
The network communication module for realizing host computer and control system child node high efficiency communication；
The data memory module is 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 drives servo motor for network signal based on the received；
The pulse generating module issues corresponding pulse command for the instruction of pulse generation based on the received；
The pulse command servo-driver drives servo motor for pulse command based on the received；
The DAC D/A converter module is used for the transformation analog quantity instruction of received digital command；
The analog quantity instruction servo-driver is for analog quantity order-driven servo motor based on the received；
The servo motor is for driving robot to make corresponding mechanical action；
The encoder is used to acquire the operating parameter Real-time Feedback on servo motor to dual core processor, realizes closed loop operation.
2. robot control system according to claim 1, which is characterized in that the first processor is arm processor,
Second processor is dsp processor.
3. robot control system according to claim 1, which is characterized in that the network communication module passes through Ethernet
Realize the high efficiency communication of host computer and control system child node, the network communication servo-driver based on the received believe by Ethernet
Number driving servo motor.
4. robot control system according to claim 1, which is characterized in that the robot control system further include with
The serial port module of dual core processor connection, the serial port module are used to realize control system using the expansion interface of serial communication mode
System is connected with external equipment.
5. robot control system according to claim 1, which is characterized in that the robot control system further include with
The display module of dual core processor connection, the display module are used to show the status data of reflection control system.
6. robot control system according to claim 1, which is characterized in that the robot control system further include with
Dual core processor connection extension I/O module, the extension I/O module for control system and external equipment progress data analysis or
Exchange.
7. robot control system according to claim 1, which is characterized 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 of control system 3.3V.
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| 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 |
| 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 |
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| US10493289B2 (en) * | 2010-07-09 | 2019-12-03 | Zoll Medical Corporation | System and method for conserving power in a medical device |
| CN204076264U (en) * | 2013-12-30 | 2015-01-07 | 北京配天技术有限公司 | A kind of motion control card and robot |
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| CN106003030A (en) * | 2016-06-13 | 2016-10-12 | 江苏若博机器人科技有限公司 | Dual-core constant-velocity control system for joint robot for teaching |
| CN206544182U (en) * | 2016-12-13 | 2017-10-10 | 广州中国科学院先进技术研究所 | A kind of robot control system |
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