CN109834714A - A kind of tracking control system and method for multirobot - Google Patents
A kind of tracking control system and method for multirobot Download PDFInfo
- Publication number
- CN109834714A CN109834714A CN201910271771.7A CN201910271771A CN109834714A CN 109834714 A CN109834714 A CN 109834714A CN 201910271771 A CN201910271771 A CN 201910271771A CN 109834714 A CN109834714 A CN 109834714A
- Authority
- CN
- China
- Prior art keywords
- robot
- module
- multirobot
- rotational angle
- instruction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a kind of tracking control systems and method for multirobot, which includes: host controller, for according to the NC instruction received, resolving to obtain rotational angle-time graph；Bus coupler, for the rotational angle-time graph to be sent to the next robot controller；The next robot controller, for completing the driving in robot each joint and end effector motor according to the rotational angle-time graph received.The present invention can be used for more robot Collaborative Controls, compared with more traditional robot control systems, be remarkably improved the kinematic dexterity and control precision of robot, the flexible automation for improving robot control is horizontal.
Description
Technical field
The invention belongs to multirobot Collaborative Control technical field more particularly to a kind of TRAJECTORY CONTROLs for multirobot
System and method for.
Background technique
As China is in the increase in demand of major design part manufacturing field, high-precision, high flexibility manufacture characteristic to adding
Tooling is standby to propose new challenge.If diameter is greater than 3 meters, large sealing cabin structure of the length greater than 10 meters, to guarantee its function
Meet design objective requirement with precision, need to integrally be processed, existing lathe is difficult to meet the requirement of the range of work, large-scale component
High-efficiency high-accuracy be manufactured as restrict China's development of high-end manufacturing main bottleneck.
Mobile mixed connection machining robot is made of two Omni-mobile platform, mixed connection machining robot major parts.Entirely
Can on the ground to mobile platform, the mixed connection machining robot lifted above does translational and rotational movement around workpiece.Mixed connection
Machining robot then realizes that end milling cutter 5DOF moves, and realizes the function of 5DOF processing.Based on mobile processing machine
The manufacturing mode of people provides new thinking for the overall processing of realization large-scale component.Countries in the world have a large amount of scientific research institutions to open
The manufacture research in situ that mobile robot is used for large-scale component is opened up.
Multirobot cooperative control system based on programmable controller PLC, mainly by PLC as PC control each
The movement of robot, there are mainly two types of modes, and one is the program numbers of control robot, and the motor program of robot is with program number
It is downloaded in robot controller in advance for mark, host computer PLC is by calling the program number in robot controller, so that machine
Device people executes the track under the program number.Another way is to control the target point of robot, and host computer PLC is by coordinates of targets
Point is sent to the next robot controller in real time, and robot controller independently completes current location to the interpolation track of target point.
The problem of above method, is that host controller can not know the actual motion track of robot, and first way is only
Motor program can be downloaded in robot controller in advance, if necessary to change the motion profile of robot, then be needed again
Work out and download new motor program, although the second way completes the control of robot motion's target point, but due to can not
Learn that state of robot during moving to target point, motion profile precision are determined by robot controller completely, each
Robot motion's trajectory synchronization is poor, while Interpolation step-length is easy to cause Liang Tai robot during the motion with rate difference
It collides.
Summary of the invention
Technology of the invention solves the problems, such as: overcoming the deficiencies of the prior art and provide a kind of track control for multirobot
System and method for processed is remarkably improved compared with more traditional robot control systems for more robot Collaborative Controls
The kinematic dexterity and control precision of robot, the flexible automation for improving robot control are horizontal.
In order to solve the above-mentioned technical problem, the invention discloses a kind of tracking control systems for multirobot, comprising:
Host controller, for according to the NC instruction received, resolving to obtain rotational angle-time graph；
Bus coupler, for the rotational angle-time graph to be sent to the next robot controller；
The next robot controller, for according to rotational angle-time graph for receiving, complete each joint of robot and
The driving of end effector motor.
In the above-mentioned tracking control system for multirobot, host controller, comprising:
Subsystem is pre-read, for pre-reading and explaining the NC instruction received, the classification of NC instruction is determined, function is referred to
It enables and upper PLC module is transferred to by Upper machine communication module, movement instruction is transferred to thick insert by Upper machine communication module
Mend computing module；Wherein, the classification of NC instruction, comprising: function command and movement instruction；
Rough interpolation computing module makes for being segmented according to the rough interpolation time step of default to movement instruction
Movement instruction is discretized into as the function of setting time length inner machine people's end flange moving distance and corner；
Servo computing module, for passing through robot for the function of robot end's flange moving distance and corner
It is the corresponding motor rotation angle value of each rotary joint of robot that Arithmetic of inverse kinematics, which resolves, and it is bent to obtain rotational angle-time
Line；
Upper PLC module instructs for receive capabilities, and executes function indicated by the function command；
Upper machine communication module will for by unified coding mode, function command to be transferred to upper PLC module
Movement instruction is transferred to rough interpolation computing module, realizes serial interaction.
In the above-mentioned tracking control system for multirobot, host controller, further includes: user interface is used
In the NC instruction for receiving user's input.
In the above-mentioned tracking control system for multirobot, function command, comprising: the starting of robot, stopping, fortune
Scanning frequency degree, waiting time length, each robot synchronization action point；Movement instruction, comprising: the movement rail of robot end
Mark, and expressed in the form of the numerical control G code of standard.
In the above-mentioned tracking control system for multirobot, the function of robot end's flange moving distance and corner
Including three process descriptions: end flange central point moving distance, end flange normal corner and end flange are along initial normal
Corner；Wherein, end flange central point moving distance refers to: end flange central point is by the straight line or circular arc path planned
And command speed, from a starting point to terminating point apart from process description；End flange normal corner refers to end flange
Normal direction moves to the corner process description function for terminating discovery orientation from initial normal line direction according to the speed of planning；End
End flanges refer to the normal of end flange according to the speed of planning, from initial position to final position mistake along the corner of initial normal
Cheng Zhong, the angle process description function rotated along initial normal.
In the above-mentioned tracking control system for multirobot, rotational angle-time graph refers to: in rectangular coordinate system
In using trunnion axis as time scale, vertical axes be motor rotational angle.
In the above-mentioned tracking control system for multirobot, the next robot controller, comprising:
Robot communication control module, for the mutual communication between modules in the next robot controller, will under
Interaction data in the robot controller of position between modules realizes serial interaction, by fixed by unified coding mode
The priority of justice solves data communication obstruction；And different data are packaged according to the industrial bus agreement of standard, it encapsulates
Data afterwards are transmitted with the industrial bus protocol format of standard to host controller；
Robot security's PLC module, for obtaining the acquisition collected by each sensor of the next robot, encoder
Information, after encoding to acquisition information, use state parameter is transferred to upper PLC module；And it will be received by upper PLC module
To state parameter matched with the parameter pre-saved, obtain the status information of robot security's PLC module, and pass through use
Family interface is shown；
Fine interpolation computing module, for calculating joint motor and being advised at one according to the rotational angle-time graph received
The angle value for needing to rotate in the fixed Fine interpolation period obtains control voltage-time curve；
Joint driver, for completing the driving to the motor of each joint driver according to control voltage-time curve.
In the above-mentioned tracking control system for multirobot, state parameter, comprising: safety verification information, driver
The interactive information of operation information, driver Stop message and upper PLC module and robot security's PLC module.
In the above-mentioned tracking control system for multirobot, control voltage-time curve refers to: in rectangular coordinate system
In using trunnion axis as time scale, vertical axes are control voltage value, and voltage value changes over time within the scope of ± 12V and fluctuated.
Correspondingly, the invention also discloses a kind of method for controlling trajectory for multirobot, comprising:
The NC instruction received is resolved by host controller, obtains rotational angle-time graph；
Rotational angle-the time graph is sent to the next robot controller by bus coupler；
By the next robot controller according to the rotational angle-time graph received, each joint of robot and end are completed
Hold the driving of performer motor.
The invention has the following advantages that
(1) in the present invention, all robots are by host controller On-line Control motion profile.I.e. in host controller
The planning and real-time control for completing all the next robot motion profiles, it is not necessary that track program is downloaded to robot control in advance
Device need to only write the program of host controller so that trajectory planning and numerical control programming process are simpler.
(2) in the present invention, the Collaborative Control of robot motion track is realized by unified rough interpolation computing module.It is logical
The interpolation operation that host controller uniformly completes all the next robot trajectories is crossed, ensure that the one of each robot interpolation precision
Cause property, simultaneously as host controller can obtain each machine by inverse kinematics parsing module definition in host controller
People's real time kinematics pose, ensure that the safety of movement, is not in trajector deviation and generates interference and collision.
(3) present invention uses two step calculating method of rough interpolation and Fine interpolation, can guarantee the path accuracy of multiple robots
Consistency, and upper meter can be reduced as far as possible according to the speed, acceleration changing rule of featured configuration on the same stage of each robot
The occupancy of calculation machine computing resource.
Detailed description of the invention
Fig. 1 is a kind of structural block diagram of the tracking control system for multirobot in the embodiment of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to disclosed by the invention
Embodiment is described in further detail.
Such as Fig. 1, in the present embodiment, this is used for the tracking control system of multirobot, comprising:
Host controller 101, for according to the NC instruction received, resolving to obtain rotational angle-time graph.
In the present embodiment, host controller 101 is the Master Control Unit of more robot motion tracks of whole system, main
May include:
User interface 1011, for receiving the NC instruction of user's input.
In the present embodiment, user interface 1011 is the interface that user inputs NC instruction, and user is by NC instruction
By keyboard, USB or Ethernet input host controller interface.
Pre-read subsystem 1012, for pre-reading and explaining the NC instruction received, the classification of NC instruction is determined, by function
It can instruct and upper PLC module 1015 is transferred to by Upper machine communication module 1016, movement instruction is communicated into mould by host computer
Block 1016 is transferred to rough interpolation computing module 1013.
In the present embodiment, subsystem 1012 is pre-read mainly by instructing pre- read through model and instruction explanation module to form.Numerical control
Instruction initially enters the pre- read through model of instruction, and instruction pre-reads item number and set by system parameter, for guarantee movement continuity and
It is perspective, general no less than 200.NC instruction includes the control instruction of the next all robots, comprising: function command
And movement instruction.Wherein, function command includes: the starting, stopping, the speed of service, waiting time length, each machine of robot
The synchronization action point of people；Movement instruction includes: the motion profile of robot end, and is expressed in the form of the numerical control G code of standard.
Instruction explanation module takes charge of the explanation above-mentioned function command and movement instruction, and function command is passed through Upper machine communication module 1016
It is transferred to upper PLC module 1015, movement instruction is transferred to rough interpolation computing module by Upper machine communication module 1016
1013。
Rough interpolation computing module 1013, for dividing according to the rough interpolation time step of default movement instruction
Section, be discretized into movement instruction for setting time length inner machine people's end flange moving distance and corner function.
In the present embodiment, rough interpolation computing module 1013 is mainly by Straight Line Inserting-compensator, circular interpolation device and spline interpolation
Device composition.The function of robot end's flange moving distance and corner includes three process descriptions: end flange central point is mobile
The corner of distance, end flange normal corner and end flange along initial normal.Wherein, end flange central point moving distance is
Refer to: end flange central point by planning straight line or circular arc path and command speed, from a starting point to terminating point away from
From process description；End flange normal corner refers to the normal direction of end flange according to the speed of planning, from initial normal side
Position moves to the corner process description function for terminating discovery orientation；End flange refers to end flange along the corner of initial normal
Normal according to planning speed, from initial position to final position during, along initial normal rotate angle process description
Function.
Servo computing module 1014, for passing through machine for the function of robot end's flange moving distance and corner
Device people's Arithmetic of inverse kinematics resolve be the corresponding motor rotation angle value of each rotary joint of robot, obtain rotational angle-when
Half interval contour.
In the present embodiment, servo computing module 1014 mainly defines compiling circulation by standard compiling loop module, user
Module and position control module composition.Standard compiling loop module and user define compiling loop module and are mainly used for realizing inverse fortune
It is dynamic to learn algorithm.Wherein, standard compiling loop module embeds each joint motor of Arithmetic of inverse kinematics and robot of standard robotic
Robot end's flange moving distance and corner can be converted to the angle of rotation of motor by the reduction ratio of retarder by this circulation
Degree constructs rotational angle-time graph.User define compiling loop module then the customized Arithmetic of inverse kinematics of embedded user and
The retarder reduction ratio of end motor can execute end including the newly-increased end effector with translation or rotation function
The translation distance and rotation angle of device are converted to the rotational angle of motor, construct rotational angle-time graph.Position control module
The real-time corner for each motor of the next robot controller that then monitoring is obtained from Upper machine communication module, when the next robot control
Real-time corner and standard the compiling loop module of each motor of device processed and user define the motor that compiling loop module is calculated and turn
When angle value is inconsistent, then the two corner differences can be sent to system bus, the next robot by Upper machine communication module
Control motor rotates corresponding angle after receiving difference, until difference is less than the small numerical value of some setting, forming position
Closed-loop control.
Preferably, rotational angle-time graph refers to: using trunnion axis as time scale in rectangular coordinate system, vertical axes
For motor rotational angle.Under this rectangular coordinate system, any point indicates the absolute angle of motor on current point in time on curve
Angle value, which is continuous, and meets the single order condition of continuity, i.e., curve at any point in time on curvature (angular speed) be to connect
Continuous.
Wherein, it should be noted that Arithmetic of inverse kinematics refers to well known robot DH kinematic transform.Pass through DH method
The calibration values of each joint motor rotation are obtained, DH method here can go out by " robotics introduction " mechanical industry in 2006
Version society, the Literature Consults such as author (beauty) John J.Craig, ISBN9787111186816.
Upper PLC module 1015, instructed for receive capabilities, and execute function indicated by the function command.
In the present embodiment, upper PLC module 1015 is in addition to receive capabilities instruction, and executes indicated by the function command
Function except, host controller can also be monitored in each PLC cycle period and the next robot controller respectively communicates
Port, travel switch, safety switch, each motor encoder, current of electric, voltage, network voltage, each component temperature, safety door,
The closed state of scram button then starts corresponding proceedings for urgency when occurring abnormal conditions in system, such as emergency stop, electricity
Machine short of electricity band-type brake, guarantees the safe operation of system.
Upper machine communication module 1016, for by unified coding mode, function command to be transferred to upper PLC mould
Movement instruction is transferred to rough interpolation computing module by block, realizes serial interaction.
In the present embodiment, Upper machine communication module 1016 is mainly that the interaction data between each module is passed through unification
Coding mode realizes serial interaction, solves data communication obstruction by the priority of definition.And to different data according to standard
Industrial bus agreement be packaged, the data after encapsulation can with the industrial bus protocol format of standard to other controllers into
Row transmission.
Bus coupler 102, for the rotational angle-time graph to be sent to the next robot controller.
In the present embodiment, bus coupler 102 is mainly used for unified and converts host controller and the control of the next robot
Industrial bus agreement between device processed, so that the communication robust between them is reliable.Such as host controller uses PROFINET work
Industry bus is converted to the ETHERCAD industrial-controlled general line of the next robot controller by bus coupler.
The next robot controller 103, for completing robot and respectively closing according to the rotational angle-time graph received
The driving of section and end effector motor.
In the present embodiment, the next robot controller 103 is each individual control unit of robot, in addition to executing
Outside the instruction of host controller, it is also responsible for completing the driving in robot each joint and end effector motor, can specifically include:
Robot communication control module 1031, for the mutual communication between modules in the next robot controller,
By the interaction data in the next robot controller between modules by unified coding mode, realizes serial interaction, lead to
The priority for crossing definition solves data communication obstruction；And different data are packaged according to the industrial bus agreement of standard,
Data after encapsulation are transmitted with the industrial bus protocol format of standard to host controller.
Robot security's PLC module 1032, collected for obtaining by each sensor of the next robot, encoder
Information is acquired, after encoding to acquisition information, use state parameter is transferred to upper PLC module；And it will by upper PLC module
The state parameter received is matched with the parameter pre-saved, obtains the status information of robot security's PLC module, and lead to
User interface is crossed to be shown.
In the present embodiment, state parameter may include following three group information: (1) safety verification information: the next robot
External automatic operating starting/stopping, safe emergency stop, the confirmation of operator's protective device, robot hand/automatic running mould
Formula, ACK button, peripheral equipment confirmation, peripheral contacts device switch.(2) driver operation/Stop message, including each joint
Drive location control, speed control, current control data state, the corresponding encoder of joint driver, grating scale are read
Parameter value deviation in current motor positions, motor speed and host controller in servo computing module.(3) upper PLC mould
The interactive information of block and robot security's PLC module needs the letter shown in user interface including alarm, operating status etc.
Breath.
Fine interpolation computing module 1033, for calculating joint motor one according to the rotational angle-time graph received
The angle value for needing to rotate in the Fine interpolation period as defined in a obtains control voltage-time curve.
In the present embodiment, Fine interpolation computing module 1033 calculates joint motor in a defined Fine interpolation period
Inside need rotation angle value, comprising: kinematics parameters setup module, kinetic parameter setup module and polynomial interpolator device three
Part forms.
Preferably, the major parameter of kinematics parameters setup module setting includes: Fine interpolation time step, all joints electricity
The maximum speed of machine.Kinetic parameter setup module setting major parameter include: all joint motors peak acceleration and
Maximum acceleration.Polynomial interpolator device is the ginseng determined by kinematics parameters setup module and kinetic parameter setup module
As polynomial interpolator condition, rotational angle-time graph that servo computing module is exported was converted in the interpolation time numerical value
In step-length, acceleration corresponding to each joint motor, at the uniform velocity with originate on the period of deceleration and each period
Velocity amplitude, acceleration value and jerk value.
Wherein, when the rough interpolation time step of upper computer control module and Fine interpolation computing module set Fine interpolation time step
When long equal, polynomial interpolator device will be directlyed adopt by rotational angle-time graph of input, motor is calculated each slotting
Mend acceleration in time step, at the uniform velocity with the velocity amplitude, the acceleration value that are originated on the period of deceleration and each period
And jerk value, and be converted into control voltage-time curve and export to each joint driver.When upper computer control module
When rough interpolation time step is the multiple of Fine interpolation computing module setting Fine interpolation time step, Fine interpolation computing module is right first
Rotational angle-time graph of the motor of input is finely divided according to the multiple, then again in each time step of subdivision,
Using polynomial interpolator device be calculated acceleration of the motor in each interpolation time step, at the uniform velocity with the period of deceleration, with
And velocity amplitude, acceleration value and the jerk value originated on each period, and it is converted into control voltage-time curve
It exports to each joint driver.
Preferably, control voltage-time curve refers to: using trunnion axis as time scale in rectangular coordinate system, vertical axes
To control voltage value, voltage value is changed over time within the scope of ± 12V and is fluctuated.Under this rectangular coordinate system, curve is taken up an official post
Meaning a little indicates the control voltage value of motor on current point in time, which is continuous, and meets the single order condition of continuity, i.e., bent
Line at any point in time on curvature be continuous.
Joint driver 1034, for completing the drive to the motor of each joint driver according to control voltage-time curve
It is dynamic.
In the present embodiment, the quantity of joint driver can be multiple, bent by the control voltage-vs-time received
Line realizes the driving to motor.
On the basis of the above embodiments, the invention also discloses a kind of method for controlling trajectory for multirobot, packets
It includes: the NC instruction received being resolved by host controller, obtains rotational angle-time graph；Pass through bus coupling
Rotational angle-the time graph is sent to the next robot controller by clutch；By the next robot controller according to reception
Rotational angle-the time graph arrived completes the driving in robot each joint and end effector motor.
For embodiment of the method, since it is corresponding with system embodiment, so be described relatively simple, correlation
Place referring to system embodiment part explanation.
Various embodiments are described in a progressive manner in this explanation, the highlights of each of the examples are with its
The difference of his embodiment, the same or similar parts between the embodiments can be referred to each other.
The above, optimal specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (10)
1. a kind of tracking control system for multirobot characterized by comprising
Host controller, for according to the NC instruction received, resolving to obtain rotational angle-time graph；
Bus coupler, for the rotational angle-time graph to be sent to the next robot controller；
The next robot controller, for completing each joint of robot and end according to the rotational angle-time graph received
The driving of performer motor.
2. the tracking control system according to claim 1 for multirobot, which is characterized in that host controller, packet
It includes:
Subsystem is pre-read, for pre-reading and explaining the NC instruction received, the classification of NC instruction is determined, function command is led to
It crosses Upper machine communication module and is transferred to upper PLC module, movement instruction is transferred to rough interpolation meter by Upper machine communication module
Calculate module；Wherein, the classification of NC instruction, comprising: function command and movement instruction；
Rough interpolation computing module makes to move for being segmented movement instruction according to the rough interpolation time step of default
Instruction is discretized into as the function of setting time length inner machine people's end flange moving distance and corner；
Servo computing module, for being transported by robot inverse by the function of robot end's flange moving distance and corner
It is the corresponding motor rotation angle value of each rotary joint of robot that dynamic algorithm, which resolves, obtains rotational angle-time graph；
Upper PLC module instructs for receive capabilities, and executes function indicated by the function command；
Upper machine communication module, for function command being transferred to upper PLC module, will be moved by unified coding mode
Instruction is transferred to rough interpolation computing module, realizes serial interaction.
3. the tracking control system according to claim 2 for multirobot, which is characterized in that host controller, also
It include: user interface, for receiving the NC instruction of user's input.
4. the tracking control system according to claim 2 for multirobot, which is characterized in that function command, comprising:
The starting of robot, stopping, the speed of service, waiting time length, each robot synchronization action point；Movement instruction, comprising:
The motion profile of robot end, and expressed in the form of the numerical control G code of standard.
5. the tracking control system according to claim 2 for multirobot, which is characterized in that robot end's flange
The function of moving distance and corner includes three process descriptions: end flange central point moving distance, end flange normal corner
With end flange along the corner of initial normal；Wherein, end flange central point moving distance refers to: end flange central point is by rule
The straight line or circular arc path and command speed drawn, from a starting point to terminating point apart from process description；End flange method
Line corner refers to that the normal direction of end flange according to the speed of planning, moves to from initial normal line direction and terminates discovery orientation
Corner process description function；End flange along the corner of initial normal refer to the normal of end flange according to the speed of planning, from
Initial position is to the angle process description function during final position, rotated along initial normal.
6. the tracking control system according to claim 2 for multirobot, which is characterized in that rotational angle-time
Curve refers to: using trunnion axis as time scale in rectangular coordinate system, vertical axes are motor rotational angle.
7. the tracking control system according to claim 3 for multirobot, which is characterized in that the next robot control
Device, comprising:
Robot communication control module, for the mutual communication between modules in the next robot controller, by slave computer
Interaction data in device people's controller between modules realizes serial interaction, passes through definition by unified coding mode
Priority solves data communication obstruction；And different data are packaged according to the industrial bus agreement of standard, after encapsulation
Data are transmitted with the industrial bus protocol format of standard to host controller；
Robot security's PLC module, for obtaining the acquisition letter collected by each sensor of the next robot, encoder
Breath, after encoding to acquisition information, use state parameter is transferred to upper PLC module；And it will be received by upper PLC module
State parameter matched with the parameter pre-saved, obtain the status information of robot security's PLC module, and pass through user
Interface is shown；
Fine interpolation computing module, for according to rotational angle-time graph for receiving, calculating joint motor as defined in one
The angle value for needing to rotate in the Fine interpolation period obtains control voltage-time curve；
Joint driver, for completing the driving to the motor of each joint driver according to control voltage-time curve.
8. the tracking control system according to claim 7 for multirobot, which is characterized in that state parameter, comprising:
Safety verification information, driver operation information, driver Stop message and upper PLC module and robot security's PLC module
Interactive information.
9. the tracking control system according to claim 7 for multirobot, which is characterized in that control voltage-vs-time
Curve refers to: using trunnion axis as time scale in rectangular coordinate system, vertical axes are control voltage value, and voltage value is in ± 12V model
It changes over time and fluctuates in enclosing.
10. a kind of method for controlling trajectory for multirobot characterized by comprising
The NC instruction received is resolved by host controller, obtains rotational angle-time graph；
Rotational angle-the time graph is sent to the next robot controller by bus coupler；
By the next robot controller according to the rotational angle-time graph received, completes each joint of robot and end is held
The driving of row device motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910271771.7A CN109834714B (en) | 2019-04-04 | 2019-04-04 | Track control system and method for multiple robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910271771.7A CN109834714B (en) | 2019-04-04 | 2019-04-04 | Track control system and method for multiple robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109834714A true CN109834714A (en) | 2019-06-04 |
| CN109834714B CN109834714B (en) | 2021-05-28 |
Family
ID=66886864
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910271771.7A Active CN109834714B (en) | 2019-04-04 | 2019-04-04 | Track control system and method for multiple robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109834714B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110333722A (en) * | 2019-07-11 | 2019-10-15 | 北京电影学院 | A kind of robot trajectory generates and control method, apparatus and system |
| CN110716467A (en) * | 2019-10-16 | 2020-01-21 | 南京南瑞继保电气有限公司 | Communication method and control system |
| CN111195909A (en) * | 2019-12-27 | 2020-05-26 | 深圳市优必选科技股份有限公司 | Steering engine control method and device for robot, terminal and computer storage medium |
| CN113771066A (en) * | 2021-09-07 | 2021-12-10 | 合肥学院 | Motor self-learning control system based on intelligent robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202622807U (en) * | 2012-02-10 | 2012-12-26 | 广州数控设备有限公司 | Modularization robot control device based on GSK-Link bus |
| CN106457560A (en) * | 2014-06-02 | 2017-02-22 | 株式会社神户制钢所 | Robot control device |
| US20170075331A1 (en) * | 2015-09-11 | 2017-03-16 | Yaskawa America, Inc. | Apparatus, system, and method for configuring and programming control of a robot |
| CN108044624A (en) * | 2017-12-11 | 2018-05-18 | 上海信耀电子有限公司 | A kind of robot control system based on POWERLINK buses |
| CN108942932A (en) * | 2018-07-19 | 2018-12-07 | 深圳市智能机器人研究院 | Industrial robot control system and method based on EtherCAT bus |
-
2019
- 2019-04-04 CN CN201910271771.7A patent/CN109834714B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202622807U (en) * | 2012-02-10 | 2012-12-26 | 广州数控设备有限公司 | Modularization robot control device based on GSK-Link bus |
| CN106457560A (en) * | 2014-06-02 | 2017-02-22 | 株式会社神户制钢所 | Robot control device |
| US20170075331A1 (en) * | 2015-09-11 | 2017-03-16 | Yaskawa America, Inc. | Apparatus, system, and method for configuring and programming control of a robot |
| CN108044624A (en) * | 2017-12-11 | 2018-05-18 | 上海信耀电子有限公司 | A kind of robot control system based on POWERLINK buses |
| CN108942932A (en) * | 2018-07-19 | 2018-12-07 | 深圳市智能机器人研究院 | Industrial robot control system and method based on EtherCAT bus |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110333722A (en) * | 2019-07-11 | 2019-10-15 | 北京电影学院 | A kind of robot trajectory generates and control method, apparatus and system |
| CN110716467A (en) * | 2019-10-16 | 2020-01-21 | 南京南瑞继保电气有限公司 | Communication method and control system |
| CN111195909A (en) * | 2019-12-27 | 2020-05-26 | 深圳市优必选科技股份有限公司 | Steering engine control method and device for robot, terminal and computer storage medium |
| CN113771066A (en) * | 2021-09-07 | 2021-12-10 | 合肥学院 | Motor self-learning control system based on intelligent robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109834714B (en) | 2021-05-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109834714A (en) | A kind of tracking control system and method for multirobot | |
| CN108942932A (en) | Industrial robot control system and method based on EtherCAT bus | |
| US8965574B2 (en) | Method for controlling an automated work cell | |
| CN103753534B (en) | A kind of Movement Controller of Mobile Robot and control method thereof | |
| CN105364926A (en) | Multi-shaft robot driving and controlling integrated control system | |
| CN102985233B (en) | Method for controlling an automated work cell | |
| Nagata et al. | Development of CAM system based on industrial robotic servo controller without using robot language | |
| CN107206593B (en) | Manipulator system for the coordinated control of at least two manipulators | |
| CN105058396A (en) | Robot teaching system and control method thereof | |
| CN105033996B (en) | Control system based on hand-push teaching type five-shaft horizontal joint robot | |
| EP1801680B1 (en) | Process for moving a robot | |
| CN109981027A (en) | A kind of servo-driver based on three chip architectures | |
| CN106406223A (en) | Real-time interference check system of machine tool and robot | |
| CN106239520A (en) | Possesses the intelligent industrial robot movement-control system of cognitive competence | |
| CN204308953U (en) | A kind of special motion controller hardware platform for six-degree-of-freedom parallel robot | |
| CN105881504A (en) | Delta robot control system with traction visual teaching function | |
| CN107791244A (en) | Controller, operation controller, multi-axis actuation control device and drive dynamic control device | |
| CN105068485B (en) | One kind automatically controls pressure casting method and die-casting system | |
| CN107645979B (en) | Robot system for synchronizing the movement of a robot arm | |
| CN114895631B (en) | Servo driver, servo system and robot | |
| Larsen | Including a collaborative robot in digital twin manufacturing systems | |
| RU203739U1 (en) | Servo control board | |
| CN106707972A (en) | Universal seven-axis redundant industrial robot coordinated control system | |
| CN112720502A (en) | Control method of single-multi-axis manipulator | |
| Wenzhong et al. | Sensorless robot collision detection based on optimized velocity deviation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |