CN108015768A - A kind of embedded control system of wheel moving platform - Google Patents
A kind of embedded control system of wheel moving platform Download PDFInfo
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- CN108015768A CN108015768A CN201711257825.1A CN201711257825A CN108015768A CN 108015768 A CN108015768 A CN 108015768A CN 201711257825 A CN201711257825 A CN 201711257825A CN 108015768 A CN108015768 A CN 108015768A
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- vehicle body
- electric drive
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The disclosure provides a kind of embedded control system of wheel moving platform, including control device, communication device, full electric drive chassis and mechanical arm, the control device is used to send control instruction to the full electric drive chassis, and receives data or image information that the full electric drive chassis is sent；The full electric drive chassis is used to receiving and performing the control instruction that the control device is sent, while sends data or image information to the control device；Transmission of the communication device for the control instruction between the control device and the full electric drive chassis, data or image information.
Description
Technical field
This disclosure relates to control system field, more particularly to a kind of embedded control system of wheel moving platform.
Background technology
In existing control system, generally use integrated system, control function be all highly concentrated in a server or
On person's host, all functions and processing task are all handled by server or host memory.But in practical applications, collection
Chinese style system cannot meet the industrial control field with huger functional requirement, client need to have distribution process ability,
Complete integrated distributed system.
Distributed system is the set of some computers, and inside is realized by communication network, to communicate as network foundation.Entirely
Distributed system can be controlled using autonomous working or cooperation work two ways, each operation host with parallel work-flow and distribution
System.
Distributed system has certain superiority compared with traditional communication network：
1) each operation host parallel operation in distributed system, it is meant that realize independence in physical property with
And the cooperative on logic property；
2) distributed system has higher reliability, when one in system or multiple host break down, remaining
Independent host can reconstitute the system consistent with original system function with self-healing, whole distributed system is adjusted automatically
Section returns to pre-fault status.
Embedded system ES (Embedded System) is a kind of widely used system, application-centered, computer
Based on technology, software and hardware can be cut, suitable for the dedicated computing being strict with to function, reliability, cost, volume and power consumption
Machine system.With the development of computer technology and electronic related technologies, embedded system has deeply been applied to each in society
Field, particularly robot control field.
Embedded system is used into distributed architecture, i.e., it is distributed in some way between different embedded devices
Ground is connected with each other, coordination with one another, and embedded system can be made to become a kind of high flexibility and the industrial control system of high reliability.
In recent years, specialized robot has obtained widely applying, and traditional technical method uses operating personnel's off-line programing
The mode of guiding controls robot, and the program being stored in internal storage location is repeatedly carried out in robot, completes required operation
Action, this control mode is restricted to robot extremely strong, does not possess real-time, to the perception of extraneous information change not
Foot, it is impossible to be adjusted correspondingly according to the change of environment to operation behavior, while substantial amounts of function needs substantial amounts of programming
Time, greatly reduces system effectiveness to a certain extent.
The content of the invention
In view of the above-mentioned problems, the disclosure provides a kind of robot control system, ambient data can be gathered in real time simultaneously
And control robot makes corresponding actions, is achieved through the following technical solutions：
The embedded control system of wheel moving platform, including control device, communication device, full electric drive chassis and machinery
Arm, the control device is used to send control instruction to the full electric drive chassis, and receives the full electric drive chassis and send
Data or image information；The full electric drive chassis is used to receiving and performing the control instruction that the control device is sent, together
When send data or image information to the control device；The communication device is used for the control device and the full electric drive
The transmission of control instruction, data or image information between chassis；
The control device includes controller, operation panel and monitor, and the control device controller performs following journey
Sequence step：
Data of the S1 using first time interval as operation panel described in cycle timing acquiring, while receive the full electric drive
The image information of chassis transmission is simultaneously shown on the monitor；
S2 by the operation panel data generate telecommand, using the second time interval as the cycle by telecommand send to
The full electric drive chassis, while receive the status data that the full electric drive chassis is sent and be shown on the monitor；
S3 shows the latest data of reception and image information on the interactive interface of the monitor, realizes to each device
Remote monitoring.
Wherein, the operation panel includes button and control stick, the communication of the button and the control device controller
Port is connected；The control stick is connected using digital interface with the control device controller, the control device control
Data message of the device timing acquiring from the button and the control stick, generation telecommand are sent to the full electric drive bottom
Disk.
Further, the full electric drive chassis includes vehicle body controller, walking mechanism, holder camera and sensor, institute
State sensor to be used to gather the status data on the full electric drive chassis and the image of holder camera shooting, and be transmitted to institute
Vehicle body controller is stated, the holder camera is used for shooting image, and the walking mechanism is used for the movement on the full electric drive chassis,
The vehicle body controller performs following procedure step：
S1 receives the telecommand that the control device controller is sent, and parses telecommand；
S2 updates operating mode, is determined according to telecommand to the walking mechanism, the mechanical arm and the holder phase
The control of machine；
S3 is assigned remote control and is referred to by the walking mechanism, the mechanical arm and the corresponding PORT COM of holder camera
Order；
S4 using the 3rd time interval as the cycle gathers the status data of the mechanical arm and the holder camera photographs
Image, and send in real time to the control device controller.
Further, the mechanical arm includes power set and actuator, and the actuator includes the pass of the mechanical arm
Section and joint angles sensor, realize the crawl function of the mechanical arm jointly；The power set include mechanical arm controller,
Register, mechanical arm motor and pump, the machinery arm controller perform following procedure step：
S1 scans the electric motor starting instruction that the vehicle body controller is assigned, and whether decision instruction meets form and start scope
It is required that；
S2 starts motor, and fault message otherwise is fed back to the vehicle body controller, the vehicle body controller modification instruction
Assign again afterwards；
S3 scans the pumping plant loading instruction that the vehicle body controller is assigned, and whether decision instruction meets form and loading range
It is required that；
S4 pumping plant normal loads, otherwise feed back to the vehicle body controller, the vehicle body controller modification by fault message
Assigned again after instruction；
S5 scans the actuator operating instruction that the vehicle body controller is assigned；
Each joint execute instruction action of mechanical arm described in S6, otherwise feeds back to the vehicle body controller by fault message,
Assigned again after the vehicle body controller modification instruction；
Whether in place S7 detects execution action by the joint angles sensor, makes adjustment in time to joint angles；
S8 completes all instructions, and off-load pumping plant checks whether motor can normally start.
Wherein, mechanical arm fault message, oil temperature, motor temperature and the joint that the mechanical arm controller will can detect
Status command frame, which is formed, after angle packing feeds back to the vehicle body controller.
Further, the communication device includes wireless communication mode and wire communication pattern.
Further, the wire communication pattern of the communication device is realized by folding and unfolding cable mechanism, the folding and unfolding cable mechanism
Including folding and unfolding cable core controller, folding and unfolding cable motor and cable sensor, the folding and unfolding cable core controller performs following procedure
Step：
S1 receives the folding and unfolding cable instruction that the vehicle body controller is assigned, and judges to run take-up, cable laying or stop mode；
When S2 performs cable laying pattern, control the folding and unfolding cable motor to rotate forward, cable drum rotating speed controlled according to external tensile force,
Cable laying mileage information is fed back into the vehicle body controller at the same time；
When S3 performs take-up pattern, the folding and unfolding cable motor reversal is controlled, cable is detected by the cable sensor
Clamp force, take-up speed is controlled by adjusting the folding and unfolding cable motor speed, while cable laying mileage information is fed back to the car body
Controller.
The beneficial effect of the disclosure：
For the embedded control system of wheel moving platform, possess remote operating ability, ability to communicate, maneuverability, machine
Tool arm Grasping skill and condition monitoring ability, each ability independently realize, no restricting relation.
Brief description of the drawings
Attached drawing shows the illustrative embodiments of the disclosure, and it is bright be used to explain the principle of the disclosure together,
Which includes these attached drawings to provide further understanding of the disclosure, and attached drawing is included in the description and forms this
Part for specification.
Fig. 1 is the functional schematic of the embedded control system of the wheel moving platform of disclosure embodiment；
Fig. 2 is the part signal of the embedded control system of the wheel moving platform of disclosure embodiment
Figure；
Fig. 3 is holding for the OCU control panels of the embedded control system of the wheel moving platform of disclosure embodiment
Row flow chart；
Fig. 4 is holding for the vehicle body controller of the embedded control system of the wheel moving platform of disclosure embodiment
Row flow chart；
Fig. 5 is that the mechanical arm control of the embedded control system of the wheel moving platform of disclosure embodiment performs
Flow chart；
Fig. 6 is the folding and unfolding cable mechanism controls of the embedded control system of the wheel moving platform of disclosure embodiment
Execution flow chart.
Embodiment
The disclosure is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is only used for explaining related content, rather than the restriction to the disclosure.It also should be noted that in order to just
It illustrate only in description, attached drawing and the relevant part of the disclosure.
It should be noted that in the case where there is no conflict, the feature in embodiment and embodiment in the disclosure can phase
Mutually combination.1-6 and describe the disclosure in detail in conjunction with the embodiments below with reference to the accompanying drawings.
The embedded control system of wheel moving platform, including control device, communication device, full electric drive chassis and machinery
Arm, control device are used to send control instruction to full electric drive chassis, and receive data or the image that full electric drive chassis is sent
Information；Full electric drive chassis is used for the control instruction for receiving and performing control device transmission, while sends data or image information
To control device；Communication device is for the control instruction between control device and full electric drive chassis, data or image information
Transmission；
Control device includes controller, operation panel and monitor, and control device controller performs following procedure step：
Data of the S1 using first time interval as cycle timing acquiring operation panel, while receive full electric drive chassis and send
Image information and show on a monitor；
Operation panel data are generated telecommand by S2, send telecommand to full electricity using the second time interval as the cycle
Chassis is driven, while receives the status data that full electric drive chassis is sent and shows on a monitor；
S3 shows the latest data of reception and image information on the interactive interface of monitor, realizes to the remote of each device
Range monitoring.
Full electric drive chassis includes vehicle body controller, walking mechanism, holder camera and sensor, and sensor is used to gather complete
The image of status data and holder the camera shooting on electric drive chassis, and vehicle body controller is transmitted to, holder camera is used to shoot
Image, walking mechanism are used for the movement on full electric drive chassis, and vehicle body controller performs following procedure step：
S1 receives the telecommand that control device controller is sent, and parses telecommand；
S2 updates operating mode, and the control to walking mechanism, mechanical arm and holder camera is determined according to telecommand；
S3 assigns telecommand by walking mechanism, mechanical arm and the corresponding PORT COM of holder camera；
The image that status datas and holder camera of the S4 using the 3rd time interval as cycle collection machinery arm photograph, concurrently
Send to control device controller.
Mechanical arm includes power set and actuator, and actuator includes joint and the joint angles sensor of mechanical arm, altogether
With the crawl function of realizing mechanical arm；Power set include mechanical arm controller, register, mechanical arm motor and pump, mechanical arm
Controller performs following procedure step：
The electric motor starting instruction that S1 scanning vehicle body controllers are assigned, whether decision instruction meets form and start scope will
Ask；
S2 starts motor, and fault message otherwise fed back to vehicle body controller, after vehicle body controller modification instruction again under
Reach；
Whether the pumping plant loading instruction that S3 scanning vehicle body controllers are assigned, decision instruction meet that form and loading range will
Ask；
S4 pumping plant normal loads, otherwise feed back to vehicle body controller, weight after vehicle body controller modification instruction by fault message
Newly assign；
The actuator operating instruction that S5 scanning vehicle body controllers are assigned；
Each joint execute instruction action of S6 mechanical arms, otherwise feeds back to vehicle body controller, car body control by fault message
Assigned again after device modification instruction；
Whether in place S7 detects execution action by joint angles sensor, makes adjustment in time to joint angles；
S8 completes all instructions, and off-load pumping plant checks whether motor can normally start.
Communication device includes wireless communication mode and wire communication pattern.
The wire communication pattern of communication device realizes that folding and unfolding cable mechanism is controlled including folding and unfolding cable core by folding and unfolding cable mechanism
Device, folding and unfolding cable motor and cable sensor, folding and unfolding cable core controller perform following procedure step：
S1 receives the folding and unfolding cable instruction that vehicle body controller is assigned, and judges to run take-up, cable laying or stop mode；
When S2 performs cable laying pattern, control folding and unfolding cable motor rotates forward, and controls cable drum rotating speed according to external tensile force, at the same time
Cable laying mileage information is fed back into vehicle body controller；
When S3 performs take-up pattern, folding and unfolding cable motor reversal is controlled, cable tensile force is detected by cable sensor, is passed through
Folding and unfolding cable motor speed control take-up speed is adjusted, while cable laying mileage information is fed back into vehicle body controller.
In more detail,
As shown in Figure 1, the embedded system of wheel moving platform possesses remote operating ability, ability to communicate, maneuverability, machine
Tool arm Grasping skill and condition monitoring ability.
As shown in Fig. 2, the embedded system of wheel moving platform is made of four parts, it is respectively control device (OCU), logical
Interrogate device, full electric drive chassis and mechanical arm.Wherein, OCU includes power supply, operation panel, controller (i.e. OCU controllers), prison
Visual organ and babinet；Communication device includes wireless communication apparatus and wire communication device (i.e. folding and unfolding cable mechanism)；Full electric drive chassis
Including power supply, sensor (i.e. chassis sensor), master controller (i.e. vehicle body controller), walking mechanism and car body；Mechanical arm bag
Include power set and actuator.
As shown in figure 3, operating personnel assigns control instruction by the button on operation panel and control stick, control device
Embedded controller (OCU controllers) instructs generation telecommand by built-in control software (OCU control softwares) acquisition control
Frame.Specifically, OCU controllers, by detecting its PORT COM information, capture button change, in addition control stick uses digital interface
It is connected with OCU controllers, the cycle of OCU control softwares capture button and joystick data is 20ms.OCU control softwares with
250ms is the cycle, by current button data and joystick data packing generation telecommand frame, by with full electric drive chassis
PORT COM is sent to vehicle body controller, while OCU control softwares read full electric drive chassis and the machine that vehicle body controller is sent
Status data, image and the video information of tool arm, and show on a monitor, enable operating personnel's remote monitoring machine artificial
Make, determine control strategy.
Vehicle body controller is parsed after receiving the telecommand that OCU controllers are sent, and telecommand is sent to walking
Mechanism, holder camera and mechanical arm.Car body control software is operated on vehicle body controller.As shown in figure 4, car body control software connects
The telecommand frame that OCU controllers are sent is received, parsing obtains control instruction, analyzed by control instruction, determined respectively to chassis
Motion control, mechanical arm control, holder camera, the control command of folding and unfolding cable mechanism, and by with walking mechanism, holder camera and
The corresponding PORT COM of mechanical arm assigns instruction.Car body control software gathers the electricity on full electric drive chassis using 1s as the cycle at the same time
The status data of the components such as pond data, mechanical arm, and sent by PORT COM to OCU controllers.
Turned between advance of the maneuverability that car body possesses including full electric drive chassis, retrogressing, acceleration and deceleration, brake, traveling
With pivot turn etc..The maneuver autopilot on full electric drive chassis is realized by the control stick of OCU, control stick deflection angle corresponds to car body
Steering angle, the amplitude of control stick deviation from origin correspond to body speed of vehicle, and control stick Z axis corresponds to car body pirouette order, Z axis coordinate symbol
Number corresponding pirouette direction, size correspond to original place rotary speed.Control stick button can be used as band-type brake control, be moved when by key pressing opportunity
Control is effective, to prevent control stick maloperation.In order to adapt to climbing, descending, and the operation of different road surfaces, the operating surface of OCU
Plate is provided with car body driving switch, to set the maximal rate of body movement.
As shown in figure 5, mechanical arm control software is operated on mechanical arm controller, vehicle body controller transmission can be received
Telecommand frame, stores in a register after being parsed, then by under motor command, pump instruction and joint angles instruction successively
Hair, and the adjustment for the information feedback progress joint position for passing through joint angles sensor.Meanwhile mechanical arm control software will gather
To mechanical arm fault message, oil temperature, motor temperature and joint angles packing after formed status command frame feed back to car body control
Device.
Communication is divided into two kinds of wireless communication mode and wire communication pattern.The content of communication transfer include OCU and car body it
Between data interaction (being respectively telecommands of the OCU to car body, and car body is to the status data of OCU), and car body is to OCU
Image or transmission of video.
Wireless communication apparatus uses goods shelf products, it is contemplated that antenna is laid conveniently and small product size is small easy to integrate, and adopts
With image, the wireless bridge product of Digital Transmission one.For wire communication device in addition to having the function of wire transmission, also needing can
Coordinate body movement folding and unfolding cable.For independent research, data transfer is total using RS485 for the folding and unfolding cable mechanism that wire communication uses
Line, for image transmitting using being transmitted after the conversion of multiple twin line transceiver, folding and unfolding cable mechanism has PORT COM, can receive and instruct according to setting
Constant speed degree performs take-up, payout operation.Car body state can be directly obtained in view of vehicle body controller and sends chassis control life
Order, so under wire communication pattern, judges that current operating conditions are determined and sent to folding and unfolding cable mechanism by vehicle body controller
Control instruction.It can also so avoid sending excessive data to folding and unfolding cable mechanism, folding and unfolding cable mechanism only needs response take-up, cable laying life
Order, without according to car body operating status, differentiating execution automatic deploying and retracting cable, or manual folding and unfolding cable function.
Folding and unfolding cable mechanism includes folding and unfolding cable core controller, folding and unfolding cable motor and cable sensor, folding and unfolding cable control software
Operate on folding and unfolding cable core controller, as shown in fig. 6, the core controller of folding and unfolding cable mechanism receives car body by PORT COM
The control instruction of controller judges take-up, cable laying or is off.In payout process, folding and unfolding cable core controller joint is drawn
Force snesor, cable releasing speed is controlled by detecting the pulling force of outer bound pair cable；During take-up, core controller joint passes
Sensor controls take-up speed to match speed by the tensile force of detection cable；When cable is stuck, cable is subject to continue drawing
More than power, or cable tensioning three times, folding and unfolding cable mechanism will stop take-up, protect cable, until troubleshooting.In addition, folding and unfolding cable
Control software forms status command frame after the mileage information of the fault message collected and folding and unfolding cable is packed and feeds back to car body control
Device processed, to the adjustment of control instruction.
It will be understood by those of skill in the art that the above embodiment is used for the purpose of clearly demonstrating the disclosure, and simultaneously
Non- is that the scope of the present disclosure is defined.For those skilled in the art, may be used also on the basis of disclosed above
To make other changes or modification, and these changes or modification are still in the scope of the present disclosure.
Claims (5)
1. a kind of embedded control system of wheel moving platform, including control device, communication device, full electric drive chassis and machine
Tool arm,
The control device is used to send control instruction to the full electric drive chassis, and receives the full electric drive chassis and send
Data or image information；
The full electric drive chassis is used to receiving and performing the control instruction that the control device is sent, while sends data or figure
As information to the control device；
The communication device is used for control instruction, data or image letter between the control device and the full electric drive chassis
The transmission of breath；
The control device includes controller, operation panel and monitor, and the control device controller performs following procedure step
Suddenly：
Data of the S1 using first time interval as operation panel described in cycle timing acquiring, while receive the full electric drive chassis
The image information of transmission is simultaneously shown on the monitor；
The operation panel data are generated telecommand by S2, send telecommand to described using the second time interval as the cycle
Full electric drive chassis, while receive the status data that the full electric drive chassis is sent and be shown on the monitor；
S3 shows the latest data of reception and image information on the interactive interface of the monitor, realizes to the remote of each device
Range monitoring.
2. embedded control system according to claim 1, it is characterised in that the full electric drive chassis includes car body control
Device, walking mechanism, holder camera and sensor processed, the sensor be used for the status data for gathering the full electric drive chassis and
The image of the holder camera shooting, and the vehicle body controller is transmitted to, the holder camera is used for shooting image, the row
The movement that mechanism is used for the full electric drive chassis is walked, the vehicle body controller performs following procedure step：
S1 receives the telecommand that the control device controller is sent, and parses telecommand；
S2 updates operating mode, is determined according to telecommand to the walking mechanism, the mechanical arm and the holder camera
Control；
S3 assigns telecommand by the walking mechanism, the mechanical arm and the corresponding PORT COM of holder camera；
The image that S4 is photographed using the 3rd time interval as the status data of the cycle collection mechanical arm and the holder camera,
And send to the control device controller.
3. embedded control system according to claim 1 or 2, it is characterised in that the mechanical arm includes power set
And actuator, the actuator include joint and the joint angles sensor of the mechanical arm, realize the mechanical arm jointly
Capture function；The power set include mechanical arm controller, register, mechanical arm motor and pump, the machinery arm controller
Perform following procedure step：
S1 scans the electric motor starting instruction that the vehicle body controller is assigned, and whether decision instruction meets form and start scope will
Ask；
S2 starts motor, and fault message otherwise is fed back to the vehicle body controller, weight after the vehicle body controller modification instruction
Newly assign；
S3 scans the pumping plant loading instruction that the vehicle body controller is assigned, and whether decision instruction meets that form and loading range will
Ask；
S4 pumping plant normal loads, otherwise feed back to the vehicle body controller, the vehicle body controller modification instruction by fault message
Assign again afterwards；
S5 scans the actuator operating instruction that the vehicle body controller is assigned；
Each joint execute instruction action of mechanical arm described in S6, otherwise feeds back to the vehicle body controller by fault message, described
Assigned again after vehicle body controller modification instruction；
Whether in place S7 detects execution action by the joint angles sensor, makes adjustment in time to joint angles；
S8 completes all instructions, and off-load pumping plant checks whether motor can normally start.
4. according to claim 1-3 any one of them embedded control systems, it is characterised in that the communication device includes nothing
Line communication mode and wire communication pattern.
5. according to claim 1-4 any one of them embedded control systems, it is characterised in that the communication device it is wired
Communication mode realizes that the folding and unfolding cable mechanism includes folding and unfolding cable core controller, folding and unfolding cable motor and line by folding and unfolding cable mechanism
Cable sensor, the folding and unfolding cable core controller perform following procedure step：
S1 receives the folding and unfolding cable instruction that the vehicle body controller is assigned, and judges to run take-up, cable laying or stop mode；
When S2 performs cable laying pattern, control the folding and unfolding cable motor to rotate forward, cable drum rotating speed is controlled according to external tensile force, at the same time
Cable laying mileage information is fed back into the vehicle body controller；
When S3 performs take-up pattern, the folding and unfolding cable motor reversal is controlled, cable tensile force is detected by the cable sensor,
Take-up speed is controlled by adjusting the folding and unfolding cable motor speed, while cable laying mileage information is fed back into the car body and is controlled
Device.
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| CN201711257825.1A CN108015768A (en) | 2017-12-04 | 2017-12-04 | A kind of embedded control system of wheel moving platform |
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| WO2020061918A1 (en) * | 2018-09-27 | 2020-04-02 | 西门子（中国）有限公司 | Multi-axis robot communication method, device and system, and multi-axis robot |
| CN111505996A (en) * | 2020-05-11 | 2020-08-07 | 西安近代化学研究所 | Man-machine isolating device OCU control terminal based on ARM singlechip |
| CN114589687A (en) * | 2020-12-04 | 2022-06-07 | 山东新松工业软件研究院股份有限公司 | Robot control device |
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Application publication date: 20180511 |