CN107562017B - Parameter edit methods, computer-readable medium and the computer of control parts of motion - Google Patents
Parameter edit methods, computer-readable medium and the computer of control parts of motion Download PDFInfo
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Abstract
A kind of parameter edit methods of control parts of motion, the control parts of motion is for controlling moving component movement, which comprises one group of kinematic parameter list being made of a plurality of kinematic parameter of editor；Edit the cycle-index of the kinematic parameter list；The threshold value item number for the kinematic parameter that its memory space allows is inquired to the control parts of motion；When the item number of the kinematic parameter is more than or equal to the threshold value item number, executes first step: the kinematic parameter in the kinematic parameter list is sequentially sent to the control parts of motion by cycle-index；When the item number of the kinematic parameter is less than the threshold value item number, executes second step: the kinematic parameter in the cycle-index and the kinematic parameter list is sequentially sent to the control parts of motion.Parameter edit methods of the invention are more friendly to user, meet the different demands of user.
Description
Technical field
The present invention relates to motion control fields, and in particular to a kind of parameter edit methods, the Yi Zhongcun of control parts of motion
Contain the computer-readable medium and a kind of computer of computer program.
Background technique
In motion control field, the moving components such as motor are the core component for realizing motion control, such as the fortune of robot
Row just needs motor cooperation lead screw or retarder etc. as Motor execution component to drive robot motion.
By motor cooperate retarder for, motor cooperation retarder be mechanical arm (or for manipulator, multi-axis robot,
Articulated robot etc.) main movement execution unit, multi-axis robot is mainly according to scheduled route from an initial bit
Set mechanical automation operation of the clamping target object to target position, suitable for many industrial circles.
Multi-axis robot currently on the market mainly includes four axis robots (there are four joints for tool) and six-joint robot (tool
There are six joint), they include pedestal, arm and the object of end clamping part, arm upper joint number determine machine
The quantity of " axis " of device people, each joint be driven by the rotation of motor, the movement to realize joint.
Currently, user needs to realize the parameter setting to robot by human-computer interaction device (such as computer, teaching machine)
And control, human-computer interaction device currently on the market is whole both for robot greatly and designs, and it is every that user generally passes through editor
The kinematic parameter in a joint realizes the motion control to robot, and the kinematic parameter is actually to control moving component (such as
Motor) kinematic parameter, after user edits the kinematic parameter of robot, be sent to robot body control parts of motion (or
Referred to as driving controller etc.), the movement of control moving component, such as patent after control parts of motion resolves the kinematic parameter received
Application No. is 201210002141.8 Chinese patent application files to disclose a kind of robot system.
In conjunction with reference attached drawing 1, attached drawing 1 shows a kind of kinetic control system (such as robot system) 100, including organic
Device people controller 101, CAN data line 102, control parts of motion 103, motor 106, control parts of motion 103 include to resolve
Unit 104, electric-motor drive unit 105 etc., kinetic control system 100 can only include a motor 106 and motion control portion
Part 103 also may include multiple motors 106 and corresponding control parts of motion 103, such as a four axis robots, tool
There are four can be provided with a motor 106 and corresponding control parts of motion 103 with movable joint, each joint.
The robot controller 101 can be teaching machine, can also be the computer for being equipped with upper computer software, can be with
It is that mobile phone/Pad of APP etc. is installed, to realize human-computer interaction, user is configured by robot controller 101 and is transported
The functions such as dynamic parameter, control 106 operating status of motor, display curve movement.
The CAN data line 102 realizes the communication between robot controller 101 and control parts of motion 103, and CAN is total
Line is a kind of STD bus, is widely used in the fields such as automotive electronics, Industry Control, motion control, and CAN bus data have solid
Fixed format, CAN data line 102 can be twisted pair or coaxial line etc..Alternatively, can also be substituted by serial communication etc.
CAN data line 102 realizes communication between the two.
The control parts of motion 103 realizes the resolving of the kinematic parameter sent to robot controller 101, obtains reality
The motor control data (generally PWM wave) on border, by adjusting the operating status of the duty cycle adjustment motor 106 of PWM wave.
Wherein, solving unit 104 realizes the resolving to kinematic parameter, and generates the PWM waveform that control motor 106 is run,
Generally realized by dsp chip；Electric-motor drive unit 105 controls the actual motion state of motor 106 according to the PWM waveform.
The kinematic parameter that user is edited by robot controller 101 is because there are great differences for demand difference, some use
Family only needs motor 106 to complete relatively simple movement, therefore only edits more than ten kinematic parameters even several kinematic parameters and be
Its demand can be met；And some users need motor 106 to complete extremely complex movement, it is therefore desirable to edit thousands of, even
Up to ten thousand kinematic parameters.In use, some users need motor 106 to complete the movement of some repeatability, such as repeat
50 same movements, and some users only need motor 106 to complete once to move.
The method of the existing generally processing kinematic parameter of kinetic control system 100 is at present:
User edits a series of kinematic parameter according to self-demand first on robot controller 101；
Then the range of motion parameter is successively carried out to the control parts of motion 103 by CAN data line 103
It sends, and stores into the caching (usually FIFO memory) in control parts of motion 103, since the memory space of caching has
Limit, therefore after robot controller 101 is filled with caching to the kinematic parameter that caching is sent, it needs in a manner of first in, first out more
Data in new caching；
Solving unit 104 obtains kinematic parameter according to the mode of first in, first out from caching, is then resolved, raw in real time
At PWM waveform；
A kinematic parameter is completed and after be sent to electric-motor drive unit 105, can just postpone when solving unit 104 resolves
This kinematic parameter is lost in depositing, then robot controller 101 could continue to issue next kinematic parameter；
Electric-motor drive unit 105 controls motor 106 according to PWM waveform and moves.
There are the following problems for the method for the above-mentioned processing of kinetic control system 100 kinematic parameter:
Though 1, user need the kinematic parameter edited how many, whether need to recycle execution, user can only will own
Kinematic parameter be edited into the last item from first, even user need repeat one group of athletic performance many times, for
It has to editor and repeats editor's kinematic parameter many times, be then sent to control parts of motion 103 one by one, and when movement control
After the caching of component 103 processed is filled with, control parts of motion 103 can only be waited to resolve and next kinematic parameter could be after after executing
Supervention is sent, waiting for a long time, this is not friendly enough to user；
2, existing control parts of motion 103 is resolved by dsp chip and is generated the arteries and veins that control motor 106 is run
Punching, it is necessary to be executed when resolving, real-time is poor, and the pulse error that dsp chip generates is larger, so that the operation of motor 106
Error is very big, is not able to satisfy the demand of client.
3, existing control parts of motion 103 calculates chip as principal solution using dsp chip and generates control pulse, FPGA
Digital signal processor is only used as signal conversion to use, so that existing control parts of motion 103 exists, resolving is slow, it is slow to execute,
The problems such as error is big, real-time is bad.
Summary of the invention
In order to solve above-mentioned 1st technical problem, the present invention provides a kind of parameter edit methods of control parts of motion,
Method provided by the invention can make user select different edit modes according to different demands, more friendly to user.
The present invention provides a kind of parameter edit methods of control parts of motion, and the control parts of motion is for controlling movement
Component movement, which comprises
Edit one group of kinematic parameter list being made of a plurality of kinematic parameter；
Edit the cycle-index of the kinematic parameter list；
The threshold value item number for the kinematic parameter that its memory space allows is inquired to the control parts of motion；
When the item number of the kinematic parameter is more than or equal to the threshold value item number, first step is executed: the movement is joined
Kinematic parameter in ordered series of numbers table is sequentially sent to the control parts of motion by cycle-index；
When the item number of the kinematic parameter is less than the threshold value item number, execute second step: by the cycle-index and
Kinematic parameter in the kinematic parameter list is sequentially sent to the control parts of motion.
Parameter edit methods provided by the invention allow user to edit kinematic parameter list according to their needs, and
It can be realized by editor's cycle-index and the circulation of moving component is set, complete kinematic parameter and cycle-index when user edits
Afterwards, the present invention will not directly send kinematic parameter to control parts of motion, but inquire the storage of control parts of motion first
The threshold value item number for the kinematic parameter that space allows, can receive how many kinematic parameter to judge control parts of motion at most, such as
The item number for the kinematic parameter that fruit user edits is less than the threshold value item number, this means that the movement that all users edit can be joined
Number is all sent to control parts of motion, therefore kinematic parameter and cycle-index are all sent to control parts of motion at this time, without
It needs that control parts of motion is waited to resolve and executes；If the volume item number for the kinematic parameter that user edits is more than or equal to the threshold value item
Number, this means that control parts of motion all once cannot be sent to the kinematic parameter that all users edit, just need at this time by
The kinematic parameter that user edits is sent to control parts of motion one by one and control parts of motion is waited to resolve and executes, empties
After the memory space of part, subsequent kinematic parameter could be sent again, and the kinematic parameter for editing user foundation is then needed to follow
Ring number is repeatedly cycled through, and is successively waited control parts of motion to resolve and is executed.
Parameter edit methods of the invention are actually directed to the different demand of user and have done different processing, once user is only
Moving component is needed to be repeatedly performed some relatively simple movements, the item number for the kinematic parameter that user edits is less, at this time can be with
All kinematic parameter and cycle-index are all directly sent to control parts of motion, the resolving and execution of control parts of motion are not
The transmission process of kinematic parameter is influenced, it is more friendly to user.
Illustrate as an example, in parameter edit methods provided by the invention, the moving component is that motor connection subtracts
When fast device, a kinematic parameter includes: rotation angle/rotation radian, rotation speed, rotational time.
As another for example, the moving component is motor connecting filament in parameter edit methods provided by the invention
When thick stick, a kinematic parameter includes: lead screw displacement, lead screw movement speed, lead screw traveling time.
As another for example, in parameter edit methods provided by the invention, in the second step, by the circulation
It includes: one " updates " key of setting that number, which is sent to the control parts of motion, by " update " key described in click by institute
It states cycle-index and is sent to the control parts of motion.
As another for example, editing one group by a plurality of kinematic parameter group in parameter edit methods provided by the invention
At kinematic parameter list include: after the last item kinematic parameter increase by one kinematic parameter；Or selected one
Increase a kinematic parameter after kinematic parameter.
As another for example, editing one group by a plurality of kinematic parameter group in parameter edit methods provided by the invention
At kinematic parameter list include: one or more kinematic parameter of duplication, after then pasting the last item kinematic parameter；Or
Person replicates one or more kinematic parameter, after then pasting a selected kinematic parameter.
As another for example, editing one group by a plurality of kinematic parameter group in parameter edit methods provided by the invention
At kinematic parameter list include: delete kinematic parameter list in all kinematic parameters, make in the kinematic parameter list only
Show first kinematic parameter, and the various parameter values of first kinematic parameter are 0.
It is a plurality of in the kinematic parameter list as another for example, in parameter edit methods provided by the invention
In kinematic parameter, motor rotational time/lead screw traveling time time value in latter kinematic parameter is greater than upper one movement
Motor rotational time/lead screw traveling time time value in parameter.
In order to solve above-mentioned 1st technical problem, the present invention also provides a kind of computers for being stored with computer program
Readable medium, the computer program is run for one or more processors, to execute control parts of motion of the present invention
Parameter edit methods.
In order to solve above-mentioned 1st technical problem, it to include memory and processing that the present invention also provides a kind of computers
Device, the memory, for being stored with the computer program run on the processor；The processor, for running
Computer program is stated, to execute the parameter edit methods of control parts of motion of the present invention.
Parameter edit methods, medium and the calculating of control parts of motion provided by the invention, for the different demand of user
Different editor and sending method are provided, processing is distinguished automatically according to the item number for the kinematic parameter that user edits, to user
It is more friendly.
Detailed description of the invention
Fig. 1 is the functional block diagram of kinetic control system 100 in background of invention；
Fig. 2 is the functional block diagram of the kinetic control system 200 of a specific embodiment of the invention；
Fig. 3 is the flow chart of the parameter edit methods S300 of a specific embodiment of the invention；
Fig. 4 is the schematic diagram of kinematic parameter list S400 in a specific embodiment of the invention；
Fig. 5 is the flow chart of the control method S500 in a specific embodiment of the invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
In conjunction with reference attached drawing 2, attached drawing 2 shows one embodiment of the present of invention kinetic control system 200, motion control system
System 200 includes: man-machine interaction unit 201, CAN data line 202, control parts of motion 203, motor 211, wherein motion control
Component 203 includes: CAN data transceiving unit 204, caching 205, mode selecting unit 206, solving unit 207, wave table 208,
PWM waveform generator 209, electric-motor drive unit 210.
The kinetic control system 200 can be robot (or mechanical arm) control system, can be electric machine control system,
It can also be lead screw control system, can also be electromagnetic valve controlling system etc..
The present embodiment is illustrated by taking robot control system as an example, and each joint of robot needs to be arranged a motor
211 are driven, and motor 211 is made rotating motion by the rotation band movable joint of output shaft, and a robot generally has multiple
Joint, the various functions to realize robot jointly；Control parts of motion 203 can be by the parameters and function of user configuration
It is converted into the driving signal of motor 211, driving motor 211 moves.
For the man-machine interaction unit 201 for realizing the interaction of user and robot, man-machine interaction unit 201 can be one
A independent robot controller, teaching machine etc. can also be a software that may be mounted on computer, can also be a
It may be mounted at the software on the smart machines such as mobile phone/Pad, man-machine interaction unit 201 described in the present embodiment is a installation
Software on computers, user can by the associ-ated motion parameters and function of the configuration of robotic such as mouse, keyboard, touch screen,
These kinematic parameters are ultimately converted to Motor control parameters to control the operating status of motor 211.
Man-machine interaction unit 201 can be connected to CAN data line 202, CAN data line 202 by the interface that computer carries
The other end be connected to the CAN data transceiving unit 204 in control parts of motion 203, computer and motion control portion may be implemented
Communication and data exchange between part 203, CAN data line 202 can be various existing CAN bus forms, general only to need
Want two data lines that the connection between computer and control parts of motion 203 can be realized.Between CAN data line 202 and computer
It generally is additionally provided with gateway, such as USB-CAN gateway, computer may be implemented and pass through between USB interface and CAN data line 202
Protocol conversion.
When the artificial articulated robot of machine, the motor 211 in each joint may be separately provided with a motion control
Component 203 drives, it is also possible to which each robot or multiple robots share control parts of motion 203 to drive multiple electricity
Machine 211, this can be designed according to the ability of 203 driving motor 211 of control parts of motion.
When user needs to control robot or control motor 211, user can be set by man-machine interaction unit 201
Every kinematic parameter is set, and control parts of motion 203 is transferred to by CAN data line 202.
CAN data transceiving unit 204 and CAN data line 202 is directly connected to, and CAN bus data can be converted to resolving
Unit 207 etc. can operation data, can by the kinematic parameter of user setting it is converted after storage to caching 205 in, will be man-machine
Control each unit is in the first pattern after the Mode selection instructions conversion that interactive unit 201 is sent or second mode processing moves
Parameter.
Caching 205 has a fixed storage depth for storing kinematic parameter, caching 205, and memory space is smaller, can
Quickly to realize data storage and read, data are accessed using first in, first out (FIFO) mode.
Solving unit 207 from caching 205 in read kinematic parameter, then by the kinematic parameter of reading using solution formula into
The processing such as row interpolation resolving, are converted to wave table number for the kinematic parameter (having generally comprised displacement, speed, time etc.) of user setting
According to being stored in wave table 208.
The wave table 208 can be realized using DDR memory etc., according to the design needs can be with for storing wavetable data
The size of the storage depth of wave table 208 is set.
The PWM waveform generator 209 is used to generate corresponding PWM waveform according to the wavetable data stored in wave table 208
Data, PWM waveform are otherwise referred to as impulse waveform, have two states of low and high level, in motion control field by adjusting PWM
The duty ratio of waveform reaches the purpose of control motor speed, electromagnetic valve switch state.PWM waveform generator 209 can be using existing
The various PWM waveform generators having are realized, for example, by using the PWM waveform generator of DDS signal generation technique realization, using number
The PWM waveform generator etc. that counting technology is realized.
Therefore, the actual motion Parameter Switch of user setting is the wavetable data for generating PWM waveform by solving unit 207,
PWM waveform generator 209 generates corresponding PWM wave graphic data according to wavetable data, using digital-to-analogue conversion, amplification filtering etc.
After reason, it is sent to electric-motor drive unit 210 and carrys out the movement of driving motor 211.
Electric-motor drive unit 210 is used to be moved according to PWM waveform driving motor 211, can use all kinds of motor driven cores
Piece is realized.
In the output end of motor 211, it is generally additionally provided with retarder, retarder matches and transmits torque for revolving speed,
The arm body mechanism of the output shaft installation mechanical arm of retarder, the movement of motor 211 can drive the movement of retarder, and retarder can
The movement of motor 211 to be converted to the movement of retarder by fixed reduction ratio, to drive the arm body of mechanical arm to set by user
Movement parameter.
As explanation, motor 211 is one embodiment of moving component, moving component can also be solenoid valve, electromagnetism every
Other moving components such as membrane pump.
CAN bus communication mode (passing through CAN data line 202), which is used, as explanation, in the present embodiment realizes man-machine friendship
Communication between mutual unit 201 and control parts of motion 203, can also using follow RS485 agreement, EtherCAT agreement,
Other communication modes such as DeviceNet agreement realize communication.
As a kind of specific embodiment, in conjunction with reference attached drawing 3, attached drawing 3 shows a kind of parameter of control parts of motion 203
Edit methods S300, the method S300 are run on man-machine interaction unit 201, and user reaches control by editor's kinematic parameter
The purpose of moving component (or robot) movement processed.
The method S300 is comprised the following steps that
Step S301: in conjunction with reference attached drawing 4, editing one group of kinematic parameter list S400 being made of a plurality of kinematic parameter,
4 kinematic parameters S401, S402, S403, S404 are shown in attached drawing 4；Edit the circulation time of the kinematic parameter list S400
Number S405.
In the present embodiment, moving component is that motor 211 connects retarder, and kinematic parameter includes rotation angle at this time
(commonly referred to as P), rotation speed (commonly referred to as V), rotational time (commonly referred to as T), in which:
P generally refers to the rotation angle of the output shaft for the retarder connecting with motor 211, motor output shaft (Gu high connection
To reducer input shaft) revolving speed and the revolving speed of output shaft of retarder there is a fixed reduction ratio, the reduction ratio is
The intrinsic parameter of retarder or user can set, for example, a motor output shaft revolving speed be 1500r/min, the output of retarder
The revolving speed of axis is 25r/min, then the reduction ratio of the retarder is 60:1；P in the S400 of kinematic parameter list at this time, which refers to, to be subtracted
The rotation angle of the output shaft of fast device needs to control motor movement after the rotation angle that resolving is motor, be slowed down with reaching to drive
Device presses the purpose of P movement；
V generally refers to the rotation speed (unit is degrees second) of the output shaft for the retarder connecting with motor 211, and motor is defeated
The revolving speed of the output shaft of the revolving speed and retarder of shaft (being fixedly attached to reducer input shaft) has a fixed reduction ratio,
The reduction ratio is that the intrinsic parameter of retarder or user can set, such as the revolving speed of output shaft of a motor is 1500r/min,
The revolving speed of the output shaft of retarder is 25r/min, then the reduction ratio of the retarder is 60:1；The S400 of kinematic parameter list at this time
In V refer to retarder output shaft rotation speed, need resolve be motor rotation speed after control motor movement, to reach
To the purpose for driving retarder to press V movement；
T is time (the unit second), i.e. time point after motor 211 (or robot etc.) setting in motion, motor (or machine
People) setting in motion when be 0, setting is certain moment that motor 211 (or robot etc.) moves to after a time T；Therefore one
As in the case of time of next kinematic parameter need the time greater than a upper kinematic parameter, such as the time value of S402 needs
Time value greater than S401, otherwise this kinematic parameter of S402 is invalid；
PVT constitutes kinetic control system (robot etc.) T needs at a certain moment collectively as a kinematic parameter
Movement velocity V, the moving displacement P reached.
User can also edit following for kinematic parameter list S400 according to itself demand editor kinematic parameter list S400
Ring number S405, to control the execution time of each parameter in kinematic parameter list S400 as a complete motion profile
Number, cycle-index S405 can be 1 or any number, be also possible to infinitely.
It should be strongly noted that a plurality of kinematic parameter and editor's cycle-index in editor kinematic parameter list S400
S405 has no inevitable sequencing, and user both can first edit kinematic parameter in kinematic parameter list S400, and edit follow again
Ring number S405 can also first edit editor cycle-index S405, edit the kinematic parameter in kinematic parameter list S400 again.
Step S302: after user, which edits, completes kinematic parameter list S400 and cycle-index S405, so that it may pass through people
Machine interactive unit 201 is sent to control parts of motion 203, inquires its memory space fortune to control parts of motion 203 first at this time
The threshold value item number of dynamic kinematic parameter.
The memory space of control parts of motion 203 generally caches 205, deep with a little fixed storage
Degree, also needs to be stored with system information, the limited amount for the kinematic parameter that can store, therefore inquire first in this step sometimes
The threshold value item number for the kinematic parameter for allowing to store in the memory space of control parts of motion 203 is joined to move for subsequent transmission
Number is prepared.
Step S303 and step S304 is a judgment step and two different execution according to judging result operation
Step:
Step S303 are as follows: when the item number of the kinematic parameter is more than or equal to the threshold value item number, execute first step: will
Kinematic parameter in the kinematic parameter list S400 is sequentially sent to the control parts of motion 203 by cycle-index S405；
Step S304 are as follows: when the item number of the kinematic parameter is less than the threshold value item number, execute second step: will be described
Kinematic parameter in cycle-index S405 and the kinematic parameter list S400 is sequentially sent to the control parts of motion 203.
The kinematic parameter for allowing to store in the caching 205 in control parts of motion 203 has been inquired in step s 302
Threshold value item number, and according to self-demand, editor completes kinematic parameter list S400 to user in step S301 before this
In each kinematic parameter (such as including kinematic parameter S401-S404) and cycle-index S405, thus judge kinematic parameter arrange
The size relation for the threshold value item number that the item number of kinematic parameter in table S400 and inquiry obtain.
Once the item number of the kinematic parameter in kinematic parameter list S400 is more than or equal to threshold value item number, this means that caching
205 memory space cannot once store all kinematic parameters completely, execute first step at this time: by kinematic parameter list
Kinematic parameter in S400 is sequentially sent to control parts of motion 203 by cycle-index S405, is stored in control parts of motion 203
Caching in 205.
Assuming that the caching 205 of control parts of motion 203 only allows to store 3 kinematic parameters, i.e. threshold value item number=3, and use
Family edits 4 kinematic parameter S401-S404, and cycle-index S405 is 5 times, at this time due to 4 > 3, at this time by kinematic parameter
It is sent to motion control portion, 203 the step of is:
Kinematic parameter S401 is sent to control parts of motion 203 first；
Then kinematic parameter S402 is sent to control parts of motion 203；
Then kinematic parameter S403 is sent to control parts of motion 203；
Then kinematic parameter S404 is sent to control parts of motion 203；
Then kinematic parameter S401 is sent to control parts of motion 203 again；
Then kinematic parameter S402 is sent to control parts of motion 203 again；
Then kinematic parameter S403 is sent to control parts of motion 203 again；
Then kinematic parameter S404 is sent to control parts of motion 203 again；
... (recycling is sent 2 times)
Then kinematic parameter S401 is sent to control parts of motion 203 again；
Then kinematic parameter S402 is sent to control parts of motion 203 again；
Then kinematic parameter S403 is sent to control parts of motion 203 again；
Then kinematic parameter S404 is sent to control parts of motion 203 again, cycles through kinematic parameter eventually by 5 times
Each parameter in list S400 and the transmission for completing this kinematic parameter.
Once the item number of the kinematic parameter in kinematic parameter list S400 is less than threshold value item number, this means that caching 205
Memory space can once store all kinematic parameters completely, execute second step at this time: by the cycle-index S405 and
Each kinematic parameter in kinematic parameter list S400 is sequentially sent to control parts of motion 203, is stored in control parts of motion
In 205 in 203 caching.
Assuming that the caching 205 of control parts of motion 203 allows to store 10 kinematic parameters, i.e. threshold value item number=10, and use
Family edits 4 kinematic parameter S401-S404, and cycle-index S405 is 5 times, at this time due to 10 > 4, at this time joins movement
Number is sent to motion control portion, and 203 the step of is:
Kinematic parameter S401 is sent to control parts of motion 203 first；
Then kinematic parameter S402 is sent to control parts of motion 203；
Then kinematic parameter S403 is sent to control parts of motion 203；
Then kinematic parameter S404 is sent to control parts of motion 203；
Cycle-index S405 is finally sent to control parts of motion 203；
Or are as follows:
Cycle-index S405 will be sent to control parts of motion 203 first；
Then kinematic parameter S401 is sent to control parts of motion 203；
Then kinematic parameter S402 is sent to control parts of motion 203；
Then kinematic parameter S403 is sent to control parts of motion 203；
Kinematic parameter S404 is finally sent to control parts of motion 203；
It has been finally completed the transmission of each kinematic parameter in this time kinematic parameter list S400.
The present invention changes user and the man-machine interaction mode of motor 211 (or robot etc.), so that user can be with
According to this parameter of the demand editor's cycle-index S405 of itself, all kinematic parameters that user must no longer be needed all are compiled
It collects in kinematic parameter list S400, it is convenient for users to use, improve the friendliness with user.
The present invention judges the memory space movement of control parts of motion 203 also after user edits completion kinematic parameter
Threshold value item number executes different parameter sending methods according to different judging results, when the item number of kinematic parameter is more than or equal to institute
Existing kinematic parameter sending method is executed when stating threshold value item number, is sent one by one, depositing due to caching 205 during this
It is limited to store up space, it is necessary to complete a part of kinematic parameter until solving unit 207 resolves, be sent to PWM waveform generator 209
After moving Deng control motor 211, after deleting the kinematic parameter for resolving and completing according to FIFO (first in, first out) mode, caching 205 is
There can be memory space for storing subsequent kinematic parameter, i.e. man-machine interaction unit 201 needs constantly whether inquire caching 205
There is memory space: once do not have, it is necessary to it continues waiting for；Once there is memory space, man-machine interaction unit 201 could continue to slow
205 transmission kinematic parameters are deposited, whole process is relatively slow.It is executed when the item number of kinematic parameter is less than the threshold value item number another
Kind parameter sending method: kinematic parameter and cycle-index S405 are sequentially sent to control parts of motion 203, are stored in caching
In 205, the resolving of solving unit 207, PWM waveform generator 209 and electricity are withouted waiting in the transmission process of kinematic parameter at this time
It is that the equal driving motors 211 of machine driving unit 210 move as a result, real-time is good, it is more friendly to user.
As a kind of deformation, when moving component is that motor 21 connects retarder, kinematic parameter can also be rotation radian
(P), speed (V), time (T), at this time:
P refers to that the rotation radian of the output shaft for the retarder connecting with motor 211, motor output shaft (subtract Gu height is connected to
Fast device input shaft) revolving speed and retarder output shaft revolving speed have a fixed reduction ratio, the reduction ratio be slow down
The intrinsic parameter of device or user can set, for example, a motor output shaft revolving speed be 1500r/min, the output shaft of retarder
Revolving speed is 25r/min, then the reduction ratio of the retarder is 60:1；P in the S400 of kinematic parameter list at this time refers to retarder
Output shaft rotation radian, need resolve be motor rotation angle after control motor movement, with reach drive retarder by P
The purpose of movement；
V refers to the rotation speed (unit is radian per second) of the output shaft for the retarder connecting with motor 211, motor output
The revolving speed of the output shaft of the revolving speed and retarder of axis (being fixedly attached to reducer input shaft) has a fixed reduction ratio, institute
Stating reduction ratio is that the intrinsic parameter of retarder or user can set, such as the revolving speed of output shaft of a motor is 1500r/min, is subtracted
The revolving speed of the output shaft of fast device is 25r/min, then the reduction ratio of the retarder is 60:1；In the S400 of kinematic parameter list at this time
V refer to retarder output shaft rotation speed, need resolve be motor rotation speed after control motor movement, to reach
Retarder is driven to press the purpose of V movement；
T is time (the unit second), i.e. time point after motor 211 (or robot etc.) setting in motion, motor (or machine
People) setting in motion when be 0, setting is certain moment that motor 211 (or robot etc.) moves to after a time T；Therefore one
As in the case of time of next kinematic parameter need the time greater than a upper kinematic parameter, such as the time value of S402 needs
Time value greater than S401, otherwise this kinematic parameter of S402 is invalid；
PVT constitutes kinetic control system (robot etc.) T needs at a certain moment collectively as a kinematic parameter
Movement velocity V, the moving displacement P reached.
As another deformation, when the moving component is that motor 211 connects lead screw, kinematic parameter is lead screw displacement
(P), lead screw movement speed (V), lead screw traveling time (T):
After being connect due to lead screw with stepper motor, lead screw itself has a preset parameter (or user can set) lead:
Lead refers to the output shaft rotation of motor lead screw mobile linear distance when turning around, and unit is usually millimeter/turn, therefore P refers to
The straight-line displacement for the lead screw connecting with motor 211, unit can be millimeter；
V refers to that the translational velocity for the lead screw connecting with motor 211, unit are mm/second；
T is the time, and at the time point after unit second, i.e. motor 211 and lead screw setting in motion, motor 211 and lead screw start
It is 0 when movement, setting is certain moment that motor 211 and guide screw movement arrive after a time T, therefore next under normal circumstances
The time of kinematic parameter needs the time greater than a upper kinematic parameter, such as the time value of S402 needs the time greater than S401
Value, otherwise this kinematic parameter of S402 is invalid.
As another deformation, the moving component can also be motor 211 itself, and kinematic parameter is motor at this time
Rotation angle (P), the rotation speed (V) of the output shaft of motor 211, rotational time (T) of 211 output shaft, such as a electricity
The revolving speed of machine is 1500r/min, i.e., can rotate 1500 turns per minute, and 1 switchs to 360 degree, i.e. the V of motor is 9000 degrees seconds, is used
It family can be according to this parameter designing PVT parameter.
The cycle-index is sent to described by one kind as the present embodiment for example, in the step S304
Control parts of motion 203 is achieved in that in conjunction with reference to attached drawing 4, and " update " key S406 is arranged, by clicking institute
It states update key S406 and the cycle-index S405 is sent to the control parts of motion 203.
The update key S406 can be physical button, is also possible to show a function choosing-item on screen, is used for
It is clicked by touch screen/mouse etc..
As a kind of deformation, in the step S304, the cycle-index is sent to the control parts of motion 203
It can also be that ending phase sends the circulation time after the incipient stage for the kinematic parameter for sending motion control list S400
S405 is to control parts of motion 203.
As the another of the present embodiment for example, editing one group of movement being made of a plurality of kinematic parameter in step S301
Parameter list S405 includes:
An option is selected by mouse right click: increasing a kinematic parameter after the last item kinematic parameter.
As a kind of deformation, an individual key choosing can also be set on the display interface of man-machine interaction unit 201
, which is clicked by mouse/touch screen etc. and increases a kinematic parameter after the last item kinematic parameter.
As another deformation, a physical button can also be set on man-machine interaction unit 201, by clicking the reality
Body key increases a kinematic parameter after the last item kinematic parameter.
As the another of the present embodiment for example, editing one group of movement being made of a plurality of kinematic parameter in step S301
Parameter list S405 can also include: to choose a kinematic parameter by mouse/touch screen etc., then be selected by mouse right click
One option: increase a kinematic parameter after a selected kinematic parameter.
As a kind of deformation, an individual key choosing can also be set on the display interface of man-machine interaction unit 201
, increase a kinematic parameter after clicking a selected at the moment kinematic parameter of the option by mouse/touch screen etc..
As another deformation, a physical button can also be set on man-machine interaction unit 201, by clicking the reality
Increase a kinematic parameter after a selected at the moment kinematic parameter of body key.
As the another of the present embodiment for example, editing one group of movement being made of a plurality of kinematic parameter in step S301
Parameter list S405 can also include: to be selected by mouse/touch screen etc. and replicate one or more kinematic parameter, then paste
To after a last kinematic parameter, as next/subsequent several kinematic parameters.
It is made of a plurality of kinematic parameter for example, editing one group in step S301 as a kind of the another of the present embodiment
Kinematic parameter list S405 can also include: after selecting by mouse/touch screen etc. and replicate one or more kinematic parameter, so
Paste afterwards by mouse/touch screen etc. be selected when previous kinematic parameter after, script this kinematic parameter after
All kinematic parameters all sequentially move down.
As the another of the present embodiment for example, editing one group of movement being made of a plurality of kinematic parameter in step S301
Parameter list S405 can also include: all kinematic parameters deleted in kinematic parameter list S405, arrange the kinematic parameter
First kinematic parameter is only shown in table S405, and the various parameter values of first kinematic parameter are 0.
As a kind of deformation, kinematic parameter list S405 that one group is made of a plurality of kinematic parameter is edited in step S301 also
It may include: all kinematic parameters deleted in kinematic parameter list S405, make all in the kinematic parameter list S405
Kinematic parameter is deleted.
As a kind of explanation, in a plurality of kinematic parameter in the kinematic parameter list S405, in latter kinematic parameter
Rotational time time value be greater than a upper kinematic parameter in rotational time time value；Silk in latter kinematic parameter
The time value of thick stick traveling time is greater than the time value of the lead screw traveling time in a upper kinematic parameter；Each at this time kinematic parameter
It is effective exercise parameter, can be resolved and be executed.When the time value of time in latter kinematic parameter is less than or equal to previous
In kinematic parameter when the time value of time, latter kinematic parameter can be considered as Invalid parameter and then be ignored, or make report
Alert prompt etc..
In the exemplary embodiment, the present invention also provides a kind of computer-readable Jie for being stored with computer program
Matter, the computer program are run for one or more processors (such as a computer) to execute above-mentioned parameter editing side
Method S300.
In another exemplary embodiment, the present invention also provides a kind of computer, computer include memory and
Processor, the memory, for being stored with the computer program run on the processor；The processor, for transporting
The row computer program, to execute above-mentioned parameter edit methods S300.
As still another embodiment, in conjunction with reference attached drawing 2, attached control parts of motion 203 shown in Figure 2 is one kind
The control device of moving component, moving component can be individual motor 211, the output shaft of motor 211 can connect retarder,
The components such as lead screw.
Be additionally provided with a mode selecting unit 206 in control parts of motion 203, mode selecting unit 206 be used for according to
According to a Mode selection instructions, selection handles the kinematic parameter received or selection in the first pattern, and processing is connect in a second mode
The kinematic parameter received, the Mode selection instructions can pass through selection first mode from man-machine interaction unit 201 with user
Or the option of second mode generates the Mode selection instructions, it can also be automatic raw according to the difference of the kinematic parameter of user setting
At the Mode selection instructions, then the man-machine interaction unit 201 is sent to control parts of motion by CAN data line 202
The Mode selection instructions received can be directly sent to by the CAN data transceiving unit 204 on 203, data transceiving unit 204
Mode selecting unit 206 is also possibly stored to obtain after being read by mode selecting unit 206 again after caching 205, model selection list
After member 206 selects first mode or second mode, control parts of motion 203 is to the processing of the kinematic parameter received also with first
Mode or second mode carry out.
When mode selecting unit 206 selects first mode to handle kinematic parameter:
Solving unit 207 successively resolves all kinematic parameters in caching 205, and resolving obtains one group of wavetable data, and deposits
Storage is in wave table 208；
PWM waveform generator 209 is recycled from wave table 208 according to a cycle-index obtains the wavetable data, generates
The PWM wave graphic data of the moving component (i.e. motor 211) is controlled, the cycle-index is that user passes through man-machine interaction unit
201 settings, such as the cycle-index S405 edited in the parameter edit methods S300, cycle-index S405 in the present embodiment
It is 5 times.
Electric-motor drive unit generates the pulse that control motor 211 moves according to the PWM wave graphic data, controls motor 211
Movement.
When mode selecting unit 206 selects second mode to handle kinematic parameter:
Solving unit 207 successively resolves the kinematic parameter in caching 205, and resolving obtains one group of wavetable data, and is stored in
In wave table 208；
Wave table 208 is configured with a fixed storage depth, stores the wave table number according to the mode of first in, first out
According to；
PWM waveform generator 209 successively obtains wavetable data from the wave table 208, generates and controls the moving component
The PWM wave graphic data of (i.e. motor 211)；
Electric-motor drive unit generates the pulse that control motor 211 moves according to the PWM wave graphic data, controls motor 211
Movement.
In the present embodiment, wave table is realized using DDR memory, and storage depth can be up to several GB.
When selection handles kinematic parameter in the first pattern, wave table 208 can be configured to a biggish storage depth,
It can store all wavetable datas that solving unit 207 successively resolves, all wave tables after the completion of solving unit 207 resolves
Data are stored in one section of memory space of wave table 208 and are not changed, and PWM waveform generator 209 can be successively from wave at this time
Table 208 takes out wavetable data to generate PWM wave graphic data, when PWM waveform generator 209 once takes wave table from wave table 208 one by one
After the completion of data, continue to remove a data from wave table 208 again, circuit sequentially, until circulation 5 wavetable datas of taking-up just stop
Only, it realizes and recycles the step of obtaining wavetable data from wave table 208 according to cycle-index S405.
After PWM waveform generator 209 generates PWM wave graphic data according to wavetable data, PWM wave graphic data is sent to electricity
Machine driving unit 210, electric-motor drive unit 210 generate final 211 driving signal of motor according to PWM wave graphic data, with driving
Motor 211 moves.
During this, solving unit 207 only needs to resolve the kinematic parameter in primary caching 205, the movement of resolving
Parameter is less, and solution process is to restrict the real-time of entire kinetic control system (such as robot system etc.) one to ask greatly slowly
Topic, therefore the processing speed of the kinematic parameter under first mode is fast, it is fast to execute, real-time is fine.
When selection handles kinematic parameter in a second mode, caching 205 is successively stored to be sent from man-machine interaction unit 201
Kinematic parameter, when caching 205 memory spaces and being filled, can not store again, man-machine interaction unit 201 can be slow with polling
Deposit whether 205 have memory space, once caching 205 does not have memory space (to mean solving unit 207, PWM waveform at this time
Devices 209 etc. are also in processing data), it is necessary to it continues waiting for；Once caching 205 has memory space, 201 ability of man-machine interaction unit
Continue to send kinematic parameter to caching 205.
Wave table 208 is configured with a fixed storage depth, and it is single that resolving is successively stored according to the mode of first in, first out
Member 207 resolves obtained wavetable data, solving unit 207 since the tool of caching 205 there are two when kinematic parameter can take out fortune
Dynamic parameter is resolved, and the wavetable data being continuously available in solution process is stored in one section of memory space in wave table 208,
PWM waveform generator 209 can be notified to start to generate PWM wave figurate number after storing a certain number of wavetable datas in wave table 208
Can directly start according to whether, PWM wave graphic data starts to take out wavetable data generating PWM waveform data, can also be by user
Initiation command is generated from man-machine interaction unit 201 to start, PWM waveform generator 209 takes out once from wave table 208
Wavetable data generates PWM wave graphic data, and wave table 208 will generate new memory space, and solving unit 207 can continue to wave table
The wavetable data for resolving and obtaining is put into 208, this means that solving unit 207 can take out new movement ginseng from caching 205
Number resolved, caching 205 in could generate memory space receive man-machine interaction unit 201 send new kinematic parameter,
Above-mentioned treatment process is sequentially constantly performed, and is finally reached the purpose that control motor 211 moves.
From foregoing description as can be seen that when selecting second mode processing kinematic parameter, the full movement of storage in caching 205
After parameter, needs the kinematic parameter for waiting the resolving of solving unit 207 front and there could be storage after taking out new kinematic parameter
Space, and the resolving of solving unit 207 obtain wavetable data storage to may also need after wave table 208 PWM waveform generator 209 from
In wave table 208 take out wavetable data after, wave table 208 can just there is memory space to receive new wavetable data, whole process real-time
It is poor, it is often necessary to which that user could continue after the completion of waiting certain treatment processes, and user experience is not good enough.
One as the present embodiment handles fortune for example, working as the mode selecting unit 206 selection in a second mode
Dynamic parameter, and the solving unit 207 resolves and stores the quantity of the wavetable data of the wave table 208 and reaches a number of threshold values
When amount, the beginning of PWM waveform generator 209 successively obtains the wavetable data from the wave table 208, generates described in control
The PWM wave graphic data of moving component (i.e. motor 211)；Wherein the number of thresholds is less than the fixed storage depth.This process
The process as executed automatically, whole process do not need user's transmitting order to lower levels again.
As a kind of deformation, when the mode selecting unit 206 selection handles kinematic parameter, and the solution in a second mode
When the quantity for the wavetable data that calculation unit 207 resolved and stored the wave table 208 reaches a number of thresholds, people can be passed through
Machine interactive unit 201 notifies user that can start to execute, and is then made by user by an initiation command, the PWM waveform hair
The raw beginning of device 209 successively obtains the wavetable data from the wave table 208, generates and controls moving component (the i.e. motor
211) PWM wave graphic data.
As a kind of deformation of the present embodiment, the wave table 208 can also by RAM memory, SSD harddisk memory etc. its
He realizes memory.
One kind as the present embodiment is for example, the man-machine interaction unit 201 may include having:
Edit cell, for editing kinematic parameter list S400 that one group is made of a plurality of kinematic parameter and described following
Ring number S405；
Query unit, the threshold value item number for the kinematic parameter that the memory space for inquiring the cache unit 205 allows；
Order generates unit, is more than or equal to for the item number when the kinematic parameter in the kinematic parameter list S400 described
When threshold value item number, the Mode selection instructions for handling kinematic parameter in a second mode are generated；When in the kinematic parameter list S400
Kinematic parameter item number be less than the threshold value item number when, generate in the first pattern handle kinematic parameter Mode selection instructions.
As a kind of deformation, the man-machine interaction unit 201 can be a software that may be mounted on computer, may be used also
To be a software that may be mounted on the smart machines such as mobile phone/Pad.
One kind as the present embodiment is for example, user can also generate a stopping life from man-machine interaction unit 201
It enables, control parts of motion 203 is sent to by CAN data line 202, solving unit 207 is according to the generation of ceasing and desisting order at this time
One group moves to the wavetable data of the kinematic parameter that data are zero from when previous kinematic parameter, the PWM waveform generator according to
Corresponding PWM wave is sequentially generated from the wavetable data for moving to the kinematic parameter that data are zero when previous kinematic parameter according to described
Graphic data can preferably protect motor 211 to control motor 211 from current motion state gradually to stop motion.
As a kind of deformation, after user is ceased and desisted order by the generation of man-machine interaction unit 201, the solving unit 207 can
Directly to stop resolving or directly generating the wavetable data of a stopping, PWM waveform generator 209 can not exported directly
PWM waveform, electric-motor drive unit 210 are automatically stopped without output, motor 211.
The embodiment of property as an example, the present invention also provides a kind of controls applied to control parts of motion 203
Method S500, in conjunction with reference attached drawing 5, the control method S500 is comprised the following steps that
S501: according to a Mode selection instructions, selection handles kinematic parameter in the first pattern or locates in a second mode
Manage kinematic parameter；
When selecting to handle kinematic parameter in the first pattern, following steps are executed:
S502: successively resolving all kinematic parameters, generates one group of wavetable data；
S503: by wavetable data storage into wave table 203；
S504: recycling from the wave table 203 according to cycle-index S405 and obtain the wavetable data, generates described in control
The PWM wave graphic data of moving component (motor 211)；
When selecting to handle kinematic parameter in a second mode, following steps are executed:
S505: successively resolving the kinematic parameter, generates one group of wavetable data；
S506: the wavetable data is stored into the wave table 203 according to first in, first out mode, the wave table 203 has
There is a fixed storage depth；
S507: wavetable data is obtained from the wave table 203 according to first in, first out mode, generates and controls the moving component
The PWM wave graphic data of (motor 211).
As another exemplary embodiment, a kind of computer-readable medium for being stored with computer program is also provided,
The computer program is run for one or more processors, to execute above-mentioned control method S500.
The embodiment of property as another example, also provides a kind of control system of moving component, and the control system includes
There are memory and processor, the memory is for being stored with the computer program run on the processor, the processing
Device is for running the computer program, to execute above-mentioned control method S500.
The parameter edit methods S300 of control parts of motion provided by the invention is by the circulation of kinematic parameter and kinematic parameter
Number is separately edited, and then judges the size of the spatial cache of control parts of motion, once spatial cache allows the movement stored
The threshold value item number of parameter is greater than the item number for the kinematic parameter that user edits, then can directly send out kinematic parameter and cycle-index
Control parts of motion is given, without repeating editor's kinematic parameter many times, does not also need the caching when control parts of motion
Space be filled with after, have to wait subsequent execution after can just vacate space, then could be again to control parts of motion after supervention
Kinematic parameter is sent, can satisfy the different demands of user, it is more friendly to user, solve the waiting time in background technique
Problem long, not friendly enough to user.
The control device 200 of moving component provided by the invention selects different movements according to a Mode selection instructions
Parameter processing mode, especially when selecting first mode, solving unit only needs to resolve all kinematic parameters once i.e.
Can, the wavetable data for taking out and resolving and obtaining then repeatedly is recycled according to cycle-index, the real-time for resolving and executing is more preferable, uses
Wave table+PWM waveform generator mode generates PWM wave graphic data, and error is smaller, meets demand of the client to error.
Above-described is only specific embodiments of the present invention, it should be understood that the explanation of above embodiments is only used
In facilitating the understanding of the method and its core concept of the invention, it is not intended to limit the scope of protection of the present invention, it is all of the invention
Any modification for being made within thought and principle, equivalent replacement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of parameter edit methods of control parts of motion, the control parts of motion is moved for controlling moving component,
Be characterized in that the described method includes:
Edit one group of kinematic parameter list being made of a plurality of kinematic parameter；
Edit the cycle-index of the kinematic parameter list；
The threshold value item number for the kinematic parameter that its memory space allows is inquired to the control parts of motion；
When the item number of the kinematic parameter is more than or equal to the threshold value item number, executes first step: the kinematic parameter is arranged
Kinematic parameter in table is sequentially sent to the control parts of motion by cycle-index；
When the item number of the kinematic parameter is less than the threshold value item number, second step is executed: by the cycle-index and described
Kinematic parameter in kinematic parameter list is sequentially sent to the control parts of motion.
2. the parameter edit methods of control parts of motion according to claim 1, it is characterised in that:
When the moving component is that motor connects retarder, every kinematic parameter in a plurality of kinematic parameter includes: rotation
Angle/rotation radian, rotation speed and rotational time.
3. the parameter edit methods of control parts of motion according to claim 1, it is characterised in that:
When the moving component is that motor connects lead screw, every kinematic parameter in a plurality of kinematic parameter includes: lead screw position
Shifting, lead screw movement speed and lead screw traveling time.
4. the parameter edit methods of control parts of motion according to claim 1, it is characterised in that:
In the second step, the cycle-index, which is sent to the control parts of motion, includes:
One " update " key is set, the cycle-index is sent to by the motion control by " update " key described in click
Component.
5. according to the parameter edit methods of control parts of motion described in claim 2,3 or 4, it is characterised in that:
Editing the kinematic parameter list that one group is made of a plurality of kinematic parameter includes:
Increase a kinematic parameter after the last item kinematic parameter；Or
Increase a kinematic parameter after a selected kinematic parameter.
6. according to the parameter edit methods of control parts of motion described in claim 2,3 or 4, it is characterised in that:
Editing the kinematic parameter list that one group is made of a plurality of kinematic parameter includes:
One or more kinematic parameter is replicated, after then pasting the last item kinematic parameter；Or
One or more kinematic parameter is replicated, after then pasting a selected kinematic parameter.
7. according to the parameter edit methods of control parts of motion described in claim 2,3 or 4, it is characterised in that:
Editing the kinematic parameter list that one group is made of a plurality of kinematic parameter includes:
All kinematic parameters in kinematic parameter list are deleted, make only to show first movement ginseng in the kinematic parameter list
Number, and the various parameter values of first kinematic parameter are 0.
8. the parameter edit methods of the control parts of motion according to Claims 2 or 3, it is characterised in that:
In a plurality of kinematic parameter in the kinematic parameter list, when rotational time/lead screw in latter kinematic parameter is mobile
Between time value be greater than a upper kinematic parameter in rotational time/lead screw traveling time time value.
9. a kind of computer-readable medium for being stored with computer program, the computer program is transported for one or more processors
Row is to execute the parameter edit methods such as any control parts of motion in claim 1-8.
10. a kind of computer includes memory and processor, it is characterised in that:
The memory, for being stored with the computer program run on the processor；
The processor, for running the computer program, to execute the method according to claim 1.
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| CN109035740A (en) * | 2018-09-27 | 2018-12-18 | 上海节卡机器人科技有限公司 | Control method, device and the tele-control system of robot |
| CN109822567B (en) * | 2019-01-21 | 2021-05-04 | 深圳镁伽科技有限公司 | Method, device and system for processing motion parameters and storage medium |
| CN110000753B (en) * | 2019-02-28 | 2021-10-26 | 深圳镁伽科技有限公司 | User interaction method, control device and storage medium |
| CN110632895B (en) * | 2019-03-25 | 2021-05-04 | 深圳镁伽科技有限公司 | Management method of motion control component, control device and motion control system |
| CN110253565B (en) * | 2019-05-22 | 2021-07-20 | 深圳镁伽科技有限公司 | Motion control unit, motion control method, robot, and motion control system |
| CN110253566B (en) * | 2019-05-22 | 2022-03-29 | 深圳镁伽科技有限公司 | Motion control unit, motion control method, robot, and motion control system |
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