CN107908191A - The kinetic control system and method for a kind of series-parallel robot - Google Patents
The kinetic control system and method for a kind of series-parallel robot Download PDFInfo
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- CN107908191A CN107908191A CN201711384351.7A CN201711384351A CN107908191A CN 107908191 A CN107908191 A CN 107908191A CN 201711384351 A CN201711384351 A CN 201711384351A CN 107908191 A CN107908191 A CN 107908191A
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- parallel robot
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- 238000011161 development Methods 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 8
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
Present invention is disclosed a kind of kinetic control system of series-parallel robot, system is equipped with the series-parallel robot being made of multiple robot cells, each robot cell is at least provided with a servomotor, PC machine is used for writing, debugging for series-parallel robot motion control method, and motion control method is delivered to controller, controller receives the status signal of each servomotor and outputs control signals to driver, and driver is according to control signal output drive signal to each servomotor.The advantage of the invention is that realizing the motion control of series-parallel robot, robot can be controlled to be moved according to the end orbit of planning, and stable movement, work well；By the multiple mechanical structures of virtual emulation, verify that the portability of motion control method is strong, secondary development is simple, works well；And the motion control method is versatile, for different mechanical structure, it is only necessary to simple exploitation.
Description
Technical field
The present invention relates to industrial robot control field, and the expansible motion control field for using lathe.
Background technology
Motion planning and robot control refers to the motion control to each axis servomotor, includes the control of single shaft, multiaxis.Connection in series-parallel machine
Device people is also known as series-parallel robot, refers to include at least a parallel institution and one or more serial mechanisms according to certain mode
The complex mechanical system combined, it combines the excellent properties of cascaded structure and parallel institution.To series-parallel robot
Axis servomotor be controlled, should realize the motion mode of series, parallel respectively, and can be to the integrally-built end orbit of robot
Planned, realize the functions such as teaching, reproduction, programming.
The prior art has different kinetic control systems and method for different robotic structures, control on the market
Device product processed is the motion control for conventional serial or parallel connection robot mostly.Therefore, the connection in series-parallel machine for special construction
Device people does not have corresponding kinetic control system and method.
The content of the invention
The technical problems to be solved by the invention are to realize a kind of popular motion of series-parallel robot kinetic control system
Control method.
To achieve these goals, the technical solution adopted by the present invention is：A kind of motion control system of series-parallel robot
System, system are equipped with the series-parallel robot being made of multiple robot cells, and each robot cell is at least provided with one
Servomotor, system include PC machine, controller and driver, and the PC machine is used for the volume of series-parallel robot motion control method
Write, debug, and motion control method is delivered to controller, the controller receives the status signal of each servomotor
And driver is output control signals to, the driver is according to control signal output drive signal to each servomotor.
The controller includes：
The explanation planning module of movement instruction：For motion control method being decomposed, numbering, being classified as each servomotor
Path instructions；
Mark interpolation algorithm realizes module：For carrying out interpolation to each path instructions, afterwards by each path instructions group
It is combined to form the complete movement locus of series-parallel robot；
Kinematic coordinate transferring：The movement of each axis servomotor is obtained according to the status signal of each servomotor
Location point, robot end's spatial coordinate location is converted to by the location point of each axis servomotor；
The position control module of axis servomotor：For driving each servomotor, position of the axis servomotor according to planning is controlled
Put movement.
The movement instruction explain planning module receive PC machine motion control method signal, and output trajectory instruct to
Mark interpolation algorithm realizes module, and the mark interpolation algorithm realizes module output trajectory function to kinematic coordinate modulus of conversion
Block, the kinematic coordinate transferring output signal to the position control module of axis servomotor, the position control of the axis servomotor
Molding block and driver real-time communication.
The execution signal that the path instructions are moved for driving servomotor in a manner of straight line, circular arc, easement curve.
The controller is damascene structures, is communicated between the controller and driver by EtherCAT.
The control method of kinetic control system based on the series-parallel robot：
Movement instruction is delivered to controller by step 1, PC machine；
Movement instruction conversion is the function trace after interpolation by step 2, controller；
Lopcus function is input to driver by step 3, controller according to interpolation cycle；
The corresponding servomotor work of step 4, driver perform track function drive.
The step 2 includes following four step：
1) the explanation planning of movement instruction：Movement instruction row input by user is decomposed, is numbered, classification processing, will be moved
Instruction handles the execution signal moved for straight line, circular arc, easement curve and exports；
2) track interpolation：Interpolation processing is carried out to each movement instruction, the track combination of each servomotor is existed
Together, form complete movement locus and export；
3) kinematic coordinate conversion：The movement position point of each axis servomotor is obtained, the location status of each axis servomotor is changed
For robot end's spatial coordinate location；
4) the position control of axis servomotor：Real-time communication is carried out with driver, function trace is sent to driving.
The step 2 is off-line operation step, and described 3 be on-line operation step.
The advantage of the invention is that realizing the motion control of series-parallel robot, end of the robot according to planning can be controlled
Track movement, and stable movement are held, is worked well；By the multiple mechanical structures of virtual emulation, that verifies motion control method can
Transplantability is strong, and secondary development is simple, works well；And the motion control method is versatile, for different mechanical structure,
Only need simple exploitation.
Brief description of the drawings
The content of every width attached drawing expression in description of the invention is briefly described below：
Fig. 1 is the kinetic control system block diagram of series-parallel robot；
Fig. 2 is the motion control method flow chart of series-parallel robot.
Embodiment
Series-parallel robot is to provide dynamical system by servomotor, and motion control uses centralized control, by embedding
Enter formula controller control driver, communicated between controller and driver using EtherCAT, pass through the controller software of host computer
Carry out the realization of motion control.I.e. whole kinetic control system is by PC machine, (embedded) controller, driver, servomotor, string
Parallel robot machinery structure composition, as shown in Figure 1.The writing of motion control method is carried out in PC machine, is debugged, passes through controller
The state of on-line checking axis servomotor and the action for controlling driver.
The process of motion planning and robot control can be divided into four parts：The explanation planning of movement instruction, track interpolation
Realization, kinematic coordinate conversion, axis servomotor position control.Aforementioned four part is packaged, there is provided between each several part
Interface, for entirely control process logic realization.
The explanation planning of movement instruction refers to by the language that movement instruction conversion input by user is machine understanding, and to fortune
Dynamic process is decomposed, numbered, sorted out, and any complicated track can be split as three species such as straight line, circular arc, easement curve
Type, most all types of data outputs at last；Track interpolation carries out different tracks different Interpolation Process, then will be each
Track combination together, ultimately forms complete movement locus and exports；Kinematic coordinate conversion is according to specific machine
People's structure, joint space, i.e., the movement position point of each axis servomotor are transformed into by end orbit space coordinate point, while can be incited somebody to action each
The location status of axis servomotor is converted to robot end's spatial coordinate location；The position control of axis servomotor refers to carry out with driver
Real-time communication, sends positional information, and controls axis servomotor to be moved according to the position of planning.
The specific implementation flow of motion control process, as shown in Figure 2.Before robot motion, the movement of input is received
Instruction, calls the algorithm of the first and second parts, is the function trace after interpolation by movement instruction conversion, this is one offline
Process, i.e., before robot operation, the lopcus function with time correlation is obtained according to the input of user, can be in robot motion
Track accessible detecting is carried out before, and analyzes the influence of the speed of track, acceleration, is improved the precision of track, is reduced to machine
The damage of tool equipment；Robot is run, the algorithm of the third and fourth part is called, lopcus function is input to according to interpolation cycle
Servo-driver, this is an online process, it is necessary to send the position of axis servomotor in real time, establishes the movement using the time as order
Process, completes whole motion control.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements and from aforesaid way
Limitation, as long as the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress is employed, or without changing
Other occasions are directly applied into by the design of the present invention and technical solution, within protection scope of the present invention.
Claims (8)
1. a kind of kinetic control system of series-parallel robot, system is equipped with the connection in series-parallel machine being made of multiple robot cells
People, each robot cell is at least provided with a servomotor, it is characterised in that：System includes PC machine, controller and drive
Dynamic device, the PC machine is used for writing, debugging for series-parallel robot motion control method, and motion control method is delivered to control
Device processed, the controller receive the status signal of each servomotor and output control signals to driver, the driving
Device is according to control signal output drive signal to each servomotor.
2. the kinetic control system of series-parallel robot according to claim 1, it is characterised in that the controller bag
Include：
The explanation planning module of movement instruction：For the rail for decomposing motion control method, numbering, being classified as each servomotor
Mark instructs；
Mark interpolation algorithm realizes module：For carrying out interpolation to each path instructions, each path instructions are combined afterwards
The complete movement locus of series-parallel robot is formed together；
Kinematic coordinate transferring：The movement position of each axis servomotor is obtained according to the status signal of each servomotor
Point, robot end's spatial coordinate location is converted to by the location point of each axis servomotor；
The position control module of axis servomotor：For driving each servomotor, control axis servomotor is transported according to the position of planning
It is dynamic.
3. the kinetic control system of series-parallel robot according to claim 2, it is characterised in that：The movement instruction
Explain that planning module receives the motion control method signal of PC machine, and output trajectory instructs to mark interpolation algorithm and realizes module,
The mark interpolation algorithm realizes that module output trajectory function to kinematic coordinate transferring, the kinematic coordinate turns
Mold changing block outputs signal to the position control module of axis servomotor, and the position control module of the axis servomotor is led in real time with driver
News.
4. the kinetic control system of the series-parallel robot according to Claims 2 or 3, it is characterised in that：The track refers to
Make the execution signal moved for driving servomotor in a manner of straight line, circular arc, easement curve.
5. the kinetic control system of the series-parallel robot according to any one of claim 4, it is characterised in that：The control
Device processed is damascene structures, is communicated between the controller and driver by EtherCAT.
6. the control method based on the kinetic control system of series-parallel robot described in claim 1-5, it is characterised in that：
Movement instruction is delivered to controller by step 1, PC machine；
Movement instruction conversion is the function trace after interpolation by step 2, controller；
Lopcus function is input to driver by step 3, controller according to interpolation cycle；
The corresponding servomotor work of step 4, driver perform track function drive.
7. control method according to claim 6, it is characterised in that the step 2 includes following four step：
1) the explanation planning of movement instruction：Movement instruction row input by user is decomposed, is numbered, classification processing, by movement instruction
Handle the execution signal moved for straight line, circular arc, easement curve and export；
2) track interpolation：Interpolation processing is carried out to each movement instruction, by the track combination of each servomotor together,
Form complete movement locus and export；
3) kinematic coordinate conversion：The movement position point of each axis servomotor is obtained, the location status of each axis servomotor is converted into machine
Device people's end spaces coordinate position；
4) the position control of axis servomotor：Real-time communication is carried out with driver, function trace is sent to driving.
8. the control method according to claim 6 or 7, it is characterised in that：The step 2 is off-line operation step, described 3
For on-line operation step.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711384351.7A CN107908191B (en) | 2017-12-20 | 2017-12-20 | Motion control system and method for serial-parallel robot |
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| CN201711384351.7A CN107908191B (en) | 2017-12-20 | 2017-12-20 | Motion control system and method for serial-parallel robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109240216A (en) * | 2018-08-27 | 2019-01-18 | 天津鼎成高新技术产业有限公司 | The dynamic process control method and information data processing terminal of parallel servos |
| CN109254567A (en) * | 2018-07-11 | 2019-01-22 | 杭州电子科技大学 | A kind of multi-axis industrial robot's control system based on FPGA |
| CN111103875A (en) * | 2018-10-26 | 2020-05-05 | 科沃斯机器人股份有限公司 | Method, apparatus and storage medium for avoiding |
| CN111775145A (en) * | 2020-06-01 | 2020-10-16 | 上海大学 | Control system of series-parallel robot |
| CN112486070A (en) * | 2020-12-02 | 2021-03-12 | 南京工程学院 | Robot follow-up control system and method under position synchronization control mode |
| CN113910216A (en) * | 2020-07-09 | 2022-01-11 | 北京配天技术有限公司 | Motor shaft control method and system, robot and storage medium |
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| JP2008204188A (en) * | 2007-02-20 | 2008-09-04 | Nagoya Institute Of Technology | Motion controller, motion planner, multi-shaft servo system and servo amplifier |
| CN101811301A (en) * | 2009-10-28 | 2010-08-25 | 北京航空航天大学 | Series-parallel robot combined processing system and control method thereof |
| CN102218596A (en) * | 2011-06-24 | 2011-10-19 | 江苏大学 | Serial-parallel laser process machine |
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| JP2008204188A (en) * | 2007-02-20 | 2008-09-04 | Nagoya Institute Of Technology | Motion controller, motion planner, multi-shaft servo system and servo amplifier |
| CN101811301A (en) * | 2009-10-28 | 2010-08-25 | 北京航空航天大学 | Series-parallel robot combined processing system and control method thereof |
| CN102218596A (en) * | 2011-06-24 | 2011-10-19 | 江苏大学 | Serial-parallel laser process machine |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109254567A (en) * | 2018-07-11 | 2019-01-22 | 杭州电子科技大学 | A kind of multi-axis industrial robot's control system based on FPGA |
| CN109240216A (en) * | 2018-08-27 | 2019-01-18 | 天津鼎成高新技术产业有限公司 | The dynamic process control method and information data processing terminal of parallel servos |
| CN109240216B (en) * | 2018-08-27 | 2021-08-10 | 天津鼎成高新技术产业有限公司 | Dynamic process control method of parallel servo system and information data processing terminal |
| CN111103875A (en) * | 2018-10-26 | 2020-05-05 | 科沃斯机器人股份有限公司 | Method, apparatus and storage medium for avoiding |
| CN111775145A (en) * | 2020-06-01 | 2020-10-16 | 上海大学 | Control system of series-parallel robot |
| CN113910216A (en) * | 2020-07-09 | 2022-01-11 | 北京配天技术有限公司 | Motor shaft control method and system, robot and storage medium |
| CN113910216B (en) * | 2020-07-09 | 2023-01-24 | 北京配天技术有限公司 | Motor shaft control method and system, robot and storage medium |
| CN112486070A (en) * | 2020-12-02 | 2021-03-12 | 南京工程学院 | Robot follow-up control system and method under position synchronization control mode |
| CN112486070B (en) * | 2020-12-02 | 2022-02-11 | 南京工程学院 | Robot follow-up control system and method under position synchronization control mode |
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| CN107908191B (en) | 2024-03-29 |
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