CN109834714B - Track control system and method for multiple robots - Google Patents
Track control system and method for multiple robots Download PDFInfo
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- CN109834714B CN109834714B CN201910271771.7A CN201910271771A CN109834714B CN 109834714 B CN109834714 B CN 109834714B CN 201910271771 A CN201910271771 A CN 201910271771A CN 109834714 B CN109834714 B CN 109834714B
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Abstract
The invention discloses a track control system and a method for multiple robots, wherein the system comprises the following steps: the upper controller is used for resolving to obtain a rotation angle-time curve according to the received numerical control instruction; the bus coupler is used for sending the rotation angle-time curve to a lower robot controller; and the lower robot controller is used for finishing the driving of each joint and the end effector motor of the robot according to the received rotation angle-time curve. The invention can be used for cooperative control of a plurality of robots, and compared with the traditional control system of a plurality of robots, the invention can obviously improve the motion flexibility and control precision of the robots and improve the flexible automation level of the robot control.
Description
Technical Field
The invention belongs to the technical field of multi-robot cooperative control, and particularly relates to a track control system and method for multiple robots.
Background
With the increase of the demand of China in the field of manufacturing of important structural parts, the manufacturing characteristics of high precision and high flexibility provide new challenges for processing equipment. For example, in a large sealed cabin structure with the diameter larger than 3 meters and the length larger than 10 meters, in order to ensure that the function and the precision of the large sealed cabin structure meet the requirements of design indexes, the large sealed cabin structure needs to be integrally processed, the existing machine tool is difficult to meet the requirements of a processing range, and the efficient and high-precision manufacturing of large components becomes a main bottleneck restricting the development of high-end manufacturing industry in China.
The mobile series-parallel processing robot consists of an omnidirectional mobile platform and a series-parallel processing robot. The omnidirectional mobile platform can move on the ground, and the hybrid processing robot lifted above the omnidirectional mobile platform makes translation and rotation motion around the workpiece. The series-parallel processing robot realizes 5-degree-of-freedom movement of the end milling cutter and realizes the 5-degree-of-freedom processing function. A new idea is provided for realizing the integral processing of the large-scale component based on the manufacturing mode of the mobile processing robot. Numerous scientific research institutes have developed in-situ manufacturing studies using mobile robots for large components throughout the world.
A multi-robot cooperative control system based on a Programmable Logic Controller (PLC) mainly uses the PLC as an upper computer to control the motion of each robot, and has two modes, wherein one mode is a program number for controlling the robot, the motion program of the robot is downloaded to a robot controller in advance by taking the program number as an identifier, and the upper computer PLC calls the program number in the robot controller to enable the robot to execute a track under the program number. The other mode is that the target point position of the robot is controlled, the upper computer PLC sends the target coordinate point to the lower robot controller in real time, and the robot controller autonomously completes the interpolation track from the current position to the target point.
The method has the problems that the upper controller cannot acquire the actual motion track of the robot, the first mode can only download a motion program to the robot controller in advance, if the motion track of the robot needs to be changed, a new motion program needs to be recompiled and downloaded, and the second mode finishes the control of the motion target point of the robot, but the motion track precision is completely determined by the robot controller because the state of the robot in the process of moving to the target point cannot be acquired, the motion track synchronism of each robot is poor, and the interpolation step length and speed are different, so that the two robots are easy to collide in the motion process.
Disclosure of Invention
The technical problem of the invention is solved: the system and the method are used for the cooperative control of a plurality of robots, and compared with the traditional control system of a plurality of robots, the system and the method can obviously improve the motion flexibility and the control precision of the robots and improve the flexible automation level of the robot control.
In order to solve the above technical problem, the present invention discloses a trajectory control system for multiple robots, comprising:
the upper controller is used for resolving to obtain a rotation angle-time curve according to the received numerical control instruction;
the bus coupler is used for sending the rotation angle-time curve to a lower robot controller;
and the lower robot controller is used for finishing the driving of each joint and the end effector motor of the robot according to the received rotation angle-time curve.
In the above trajectory control system for multiple robots, the upper controller includes:
the pre-reading subsystem is used for pre-reading and interpreting the received numerical control instruction, determining the category of the numerical control instruction, transmitting the functional instruction to the upper PLC module through the upper computer communication module, and transmitting the motion instruction to the coarse interpolation calculation module through the upper computer communication module; the category of the numerical control instruction comprises the following steps: a function instruction and a motion instruction;
the rough interpolation calculation module is used for segmenting the motion instruction according to the rough interpolation time step length set by the system, so that the discretization of the motion instruction becomes a function of the moving distance and the rotating angle of the terminal flange of the robot within the set time length;
the servo calculation module is used for resolving a function of the moving distance and the rotating angle of the flange at the tail end of the robot into motor rotating angle values corresponding to all rotating joints of the robot through a robot inverse kinematics algorithm to obtain a rotating angle-time curve;
the upper PLC module is used for receiving a functional instruction and executing a function indicated by the functional instruction;
and the upper computer communication module is used for transmitting the function instruction to the upper PLC module in a uniform coding mode and transmitting the motion instruction to the coarse interpolation calculation module to realize serial interaction.
In the above trajectory control system for multiple robots, the upper controller further includes: and the user interface is used for receiving the numerical control instruction input by the user.
In the trajectory control system for multiple robots described above, the functional instructions include: starting, stopping, running speed, waiting time length and synchronous action points of each robot; motion instructions comprising: the motion trail of the tail end of the robot is expressed in a standard numerical control G code form.
In the above trajectory control system for multiple robots, the function of the moving distance and the rotation angle of the end flange of the robot includes three process descriptions: the moving distance of the center point of the tail end flange, the normal rotation angle of the tail end flange and the rotation angle of the tail end flange along the initial normal are determined; wherein, terminal flange central point displacement means: describing the distance process from a starting point to an end point by the center point of the end flange according to a planned straight line or circular arc path and a specified speed; the normal rotation angle of the end flange is a rotation angle process description function of the normal direction of the end flange moving from the initial normal position to the final finding position according to the planned speed; the angle of rotation of the end flange along the initial normal is an angular course describing function of the normal of the end flange rotating along the initial normal from the initial position to the end position at a planned speed.
In the above trajectory control system for multiple robots, the turning angle-time curve refers to: and in the rectangular coordinate system, a horizontal shaft is used as time scale, and a vertical shaft is used as a motor rotation angle.
In the trajectory control system for multiple robots, the lower robot controller includes:
the robot communication control module is used for mutual communication among all modules in the lower robot controller, realizes serial interaction of interaction data among all modules in the lower robot controller in a uniform coding mode, and solves data communication blockage through defined priority; packaging different data according to a standard industrial bus protocol, and transmitting the packaged data to an upper controller in a standard industrial bus protocol format;
the robot safety PLC module is used for acquiring acquired information acquired by each sensor and each encoder of the lower robot, encoding the acquired information and transmitting the use state parameters to the upper PLC module; the upper PLC module matches the received state parameters with the pre-stored parameters to obtain the state information of the robot safety PLC module, and the state information is displayed through a user interface;
the fine interpolation calculation module is used for calculating an angle value of the joint motor which needs to rotate within a specified fine interpolation time period according to the received rotation angle-time curve to obtain a control voltage-time curve;
and the joint driver is used for finishing the driving of the motor of each joint driver according to the control voltage-time curve.
In the trajectory control system for multiple robots described above, the state parameters include: safety inspection information, driver running information, driver stopping information and interaction information of the upper PLC module and the robot safety PLC module.
In the trajectory control system for multiple robots, the control voltage-time curve refers to: in a rectangular coordinate system, a horizontal axis is taken as a time scale, a vertical axis is taken as a control voltage value, and the voltage value fluctuates along with the time change within a range of +/-12V.
Correspondingly, the invention also discloses a track control method for multiple robots, which comprises the following steps:
resolving the received numerical control instruction through an upper controller to obtain a rotation angle-time curve;
sending the rotation angle-time curve to a lower robot controller through a bus coupler;
and the lower robot controller completes the driving of the joints and the end effector motor of the robot according to the received rotation angle-time curve.
The invention has the following advantages:
(1) in the invention, all robots are controlled on line by the upper controller to move the track. The upper controller finishes the planning and real-time control of the motion tracks of all the lower robots, and track programs do not need to be downloaded to the robot controllers in advance, so that the track planning and numerical control programming process is simpler, and only the programs of the upper controller need to be programmed.
(2) In the invention, the cooperative control of the motion trail of the robot is realized through a uniform coarse interpolation calculation module. The upper controller completes interpolation operation of all the lower robots in a unified way, consistency of interpolation precision of all the robots is guaranteed, meanwhile, the upper controller can obtain real-time motion poses of all the robots due to the fact that the inverse kinematics analysis module is defined on the upper controller, safety of motion is guaranteed, and collision interference caused by track deviation cannot occur.
(3) The invention adopts two-step calculation method of coarse interpolation and fine interpolation, which not only can ensure the track accuracy consistency of a plurality of robots, but also can set speed and acceleration change rules according to the same station characteristics of each robot, thereby reducing the occupation of upper computer calculation resources as much as possible.
Drawings
Fig. 1 is a block diagram of a trajectory control system for multiple robots according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, in this embodiment, the trajectory control system for multiple robots includes:
upper controller 101And the numerical control device is used for resolving to obtain a rotation angle-time curve according to the received numerical control instruction.
In this embodiment, the upper controller 101 is a master control unit for motion trajectories of multiple robots in the whole system, and mainly includes:
user interface 1011And the numerical control device is used for receiving numerical control instructions input by users.
In this embodiment, the user interface 1011 is an interface for a user to input numerical control commands, and the user inputs the numerical control commands to the upper controller interface through a keyboard, a USB or an ethernet.
Pre-read subsystem 1012The device is used for pre-reading and interpreting the received numerical control instruction, determining the category of the numerical control instruction, transmitting the function instruction to the upper PLC module 1015 through the upper computer communication module 1016, and transmitting the motion instruction to the rough interpolation calculation module 1013 through the upper computer communication module 1016.
In this embodiment, the pre-read subsystem 1012 is mainly composed of an instruction pre-read module and an instruction interpretation module. Numerical control instructions firstly enter an instruction pre-reading module, the number of the instruction pre-reading modules is set by system parameters, and generally not less than 200 instructions are used for ensuring the continuity and foresight of movement. The numerical control instruction comprises control instructions of all the lower robots, and the control instructions comprise: a function instruction and a motion instruction. Wherein, the functional instruction comprises: starting, stopping, running speed, waiting time length and synchronous action points of each robot; the motion instruction includes: the motion trail of the tail end of the robot is expressed in a standard numerical control G code form. The instruction interpretation module is responsible for interpreting the functional instructions and the motion instructions, transmitting the functional instructions to the upper PLC module 1015 through the upper computer communication module 1016, and transmitting the motion instructions to the rough interpolation calculation module 1013 through the upper computer communication module 1016.
Coarse interpolation calculation module 1013And the device is used for segmenting the motion command according to the coarse interpolation time step length set by the system, so that the discretization of the motion command becomes a function of the moving distance and the rotating angle of the terminal flange of the robot in the set time length.
In this embodiment, the coarse interpolation calculation module 1013 mainly includes a linear interpolator, a circular interpolation, and a spline interpolator. The function of the robot end flange movement distance and rotation angle comprises three process descriptions: the distance of movement of the center point of the end flange, the angle of rotation of the normal of the end flange, and the angle of rotation of the end flange along the initial normal. Wherein, terminal flange central point displacement means: describing the distance process from a starting point to an end point by the center point of the end flange according to a planned straight line or circular arc path and a specified speed; the normal rotation angle of the end flange is a rotation angle process description function of the normal direction of the end flange moving from the initial normal position to the final finding position according to the planned speed; the angle of rotation of the end flange along the initial normal is an angular course describing function of the normal of the end flange rotating along the initial normal from the initial position to the end position at a planned speed.
Servo calculation Module 1014For moving the robot end flange a function of distance and angle of rotation,and resolving the motor rotation angle values corresponding to each rotation joint of the robot through a robot inverse kinematics algorithm to obtain a rotation angle-time curve.
In this embodiment, the servo calculation module 1014 is mainly composed of a standard compiling cycle module, a user-defined compiling cycle module and a position control module. The standard compiling cycle module and the user-defined compiling cycle module are mainly used for realizing an inverse kinematics algorithm. The standard compiling and circulating module is embedded with an inverse kinematics algorithm of a standard robot and the reduction ratio of each joint motor reducer of the robot, can convert the moving distance and the corner of a terminal flange of the robot into the rotating angle of a motor through the circulation, and constructs a rotating angle-time curve. The user-defined compiling cycle module is embedded with a user-defined inverse kinematics algorithm and a speed reducer reduction ratio of the end motor, comprises a newly added end actuator with a translation or rotation function, and can convert the translation distance and the rotation angle of the end actuator into the rotation angle of the motor to construct a rotation angle-time curve. The position control module monitors real-time rotation angles of motors of the lower robot controller obtained from the upper computer communication module, when the real-time rotation angles of the motors of the lower robot controller are inconsistent with motor rotation angle values calculated by the standard compiling circulation module and the user-defined compiling circulation module, the difference value of the two rotation angles is sent to a system bus through the upper computer communication module, and the lower robot receives the difference value and then controls the motors to rotate corresponding angles until the difference value is smaller than a certain set micro value, so that position closed-loop control is formed.
Preferably, the rotation angle-time curve is: and in the rectangular coordinate system, a horizontal shaft is used as time scale, and a vertical shaft is used as a motor rotation angle. In this rectangular coordinate system, any point on the curve represents the absolute angle value of the motor at the current time point, the curve is continuous, and the first order continuous condition is satisfied, that is, the curvature (angular velocity) of the curve at any time point is continuous.
Note that the inverse kinematics algorithm refers to a well-known robot DH kinematics transformation. The corrected values of the rotations of the respective joint motors are obtained by a DH method, which can be referred to in literatures such as "introduction to robotics" 2006 mechanical industry press, author (usa) John j.craig, ISBN9787111186816, and the like.
Upper PLC module 1015And the processor is used for receiving the functional instruction and executing the function indicated by the functional instruction.
In this embodiment, the upper PLC module 1015, in addition to receiving the function command and executing the function indicated by the function command, may also monitor the closed states of each communication port, the travel switch, the safety switch, each motor encoder, the motor current, the voltage, the grid voltage, the temperature of each component, the safety door, and the emergency stop button of the upper controller and the lower robot controller in each PLC cycle period, and when an abnormal condition occurs in the system, start a corresponding emergency processing program, such as emergency stop, and a motor power-shortage band brake, to ensure the safe operation of the system.
Host computer communication module 1016And the device is used for transmitting the functional instruction to the upper PLC module and transmitting the motion instruction to the coarse interpolation calculation module through a uniform coding mode, so that serial interaction is realized.
In this embodiment, the upper computer communication module 1016 mainly implements serial interaction of the interactive data between the modules through a uniform coding method, and solves data communication congestion through a defined priority. And different data are packaged according to a standard industrial bus protocol, and the packaged data can be transmitted to other controllers in a standard industrial bus protocol format.
Bus coupler 102And the lower robot controller is used for sending the rotation angle-time curve to the lower robot controller.
In the present embodiment, the bus coupler 102 is mainly used to unify and convert the industrial bus protocol between the upper controller and the lower robot controller, so that the communication between them is stable and reliable. For example, the upper controller adopts a PROFINET industrial bus, and is converted into an ethernet industrial control bus of the lower robot controller through a bus coupler.
Lower robot controller 103For dependent on the received angle of rotationAnd (5) completing the driving of each joint and the end effector motor of the robot by a degree-time curve.
In this embodiment, the lower robot controller 103 is a control unit for each robot, and is responsible for driving each joint and end effector motor of the robot in addition to executing instructions of the upper controller, and may specifically include:
robot communication control module 1031The system is used for mutual communication among all modules in the lower robot controller, realizes serial interaction of interaction data among all modules in the lower robot controller in a uniform coding mode, and solves data communication blockage through defined priority; and encapsulating different data according to a standard industrial bus protocol, and transmitting the encapsulated data to an upper controller in a standard industrial bus protocol format.
Robot safety PLC module 1032The PLC module is used for acquiring acquisition information acquired by each sensor and each encoder of the lower robot, encoding the acquisition information and transmitting the use state parameters to the upper PLC module; and the upper PLC module matches the received state parameters with the pre-stored parameters to obtain the state information of the robot safety PLC module, and the state information is displayed through a user interface.
In this embodiment, the status parameters may include the following three sets of information: (1) safety inspection information: the automatic operation starting/stopping of the external part of the lower level robot, safety emergency stop, confirmation of an operator protection device, manual/automatic operation mode of the robot, a confirmation button, confirmation of peripheral equipment and a peripheral contactor switch. (2) And the driver running/stopping information comprises the position control, speed control and current control data states of each joint driver, and the current motor position and motor speed read by the encoder and the grating ruler corresponding to the joint driver and the parameter value deviation value in the servo calculation module in the upper controller. (3) And the interactive information of the upper PLC module and the robot safety PLC module comprises information needing to be displayed on a user interface, such as alarm, running state and the like.
Fine interpolation calculation module 1033And the control circuit is used for calculating an angle value of the joint motor which needs to rotate within a specified fine interpolation time period according to the received rotation angle-time curve to obtain a control voltage-time curve.
In this embodiment, the fine interpolation calculating module 1033, which calculates a required rotation angle value of the joint motor in a predetermined fine interpolation time period, includes: the system comprises a kinematic parameter setting module, a dynamic parameter setting module and a polynomial interpolator.
Preferably, the main parameters set by the kinematic parameter setting module include: and (5) precisely interpolating the time step length and the maximum speed of all joint motors. The main parameters set by the dynamics parameter setting module comprise: maximum acceleration and maximum jerk of all joint motors. The polynomial interpolator converts a rotation angle-time curve output by the servo calculation module into acceleration, uniform speed and deceleration time periods corresponding to each joint motor on interpolation time steps and initial speed values, acceleration values and jerk values on each time period by using parameter values determined by the kinematic parameter setting module and the dynamic parameter setting module as polynomial interpolation conditions.
When the coarse interpolation time step length of the upper computer control module is equal to the fine interpolation time step length set by the fine interpolation calculation module, the polynomial interpolator is directly adopted to calculate the input rotation angle-time curve to obtain the time periods of acceleration, uniform speed and deceleration of the motor in each interpolation time step length, and the initial speed value, acceleration value and acceleration value in each time period, and the time periods are converted into control voltage-time curves to be output to each joint driver. When the coarse interpolation time step of the upper computer control module is a multiple of the fine interpolation time step set by the fine interpolation calculation module, the fine interpolation calculation module firstly subdivides the input rotation angle-time curve of the motor according to the multiple, then calculates the time periods of acceleration, uniform speed and deceleration of the motor in each interpolation time step, the initial speed value, acceleration value and acceleration value in each time period by adopting a polynomial interpolator in each subdivided time step, and converts the initial speed value, acceleration value and acceleration value into control voltage-time curves to be output to each joint driver.
Preferably, the control voltage-time curve is: in a rectangular coordinate system, a horizontal axis is taken as a time scale, a vertical axis is taken as a control voltage value, and the voltage value fluctuates along with the time change within a range of +/-12V. In this rectangular coordinate system, any point on the curve represents the control voltage value of the motor at the current time point, the curve is continuous, and the first order continuous condition is satisfied, that is, the curvature of the curve at any time point is continuous.
Joint driver 1034And the controller is used for finishing the driving of the motor of each joint driver according to the control voltage-time curve.
In this embodiment, the number of the joint drivers may be multiple, and the motor is driven by the received control voltage-time curve.
On the basis of the above embodiment, the present invention also discloses a trajectory control method for multiple robots, comprising: resolving the received numerical control instruction through an upper controller to obtain a rotation angle-time curve; sending the rotation angle-time curve to a lower robot controller through a bus coupler; and the lower robot controller completes the driving of the joints and the end effector motor of the robot according to the received rotation angle-time curve.
For the method embodiment, since it corresponds to the system embodiment, the description is relatively simple, and for the relevant points, reference may be made to the description of the system embodiment section.
The embodiments in the present description are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (9)
1. A trajectory control system for multiple robots, comprising:
the upper controller is used for resolving to obtain a rotation angle-time curve according to the received numerical control instruction;
the bus coupler is used for sending the rotation angle-time curve to a lower robot controller;
the lower robot controller is used for driving each joint and the end effector motor of the robot according to the received rotation angle-time curve;
wherein, upper controller includes:
the pre-reading subsystem is used for pre-reading and interpreting the received numerical control instruction, determining the category of the numerical control instruction, transmitting the functional instruction to the upper PLC module through the upper computer communication module, and transmitting the motion instruction to the coarse interpolation calculation module through the upper computer communication module; the category of the numerical control instruction comprises the following steps: a function instruction and a motion instruction;
the rough interpolation calculation module is used for segmenting the motion instruction according to the rough interpolation time step length set by the system, so that the discretization of the motion instruction becomes a function of the moving distance and the rotating angle of the terminal flange of the robot within the set time length;
the servo calculation module is used for resolving a function of the moving distance and the rotating angle of the flange at the tail end of the robot into motor rotating angle values corresponding to all rotating joints of the robot through a robot inverse kinematics algorithm to obtain a rotating angle-time curve;
the upper PLC module is used for receiving a functional instruction and executing a function indicated by the functional instruction;
and the upper computer communication module is used for transmitting the function instruction to the upper PLC module in a uniform coding mode and transmitting the motion instruction to the coarse interpolation calculation module to realize serial interaction.
2. The trajectory control system for multiple robots according to claim 1, wherein the upper controller further comprises: and the user interface is used for receiving the numerical control instruction input by the user.
3. The trajectory control system for multiple robots according to claim 1, wherein the functional instructions comprise: starting, stopping, running speed, waiting time length and synchronous action points of each robot; motion instructions comprising: the motion trail of the tail end of the robot is expressed in a standard numerical control G code form.
4. The trajectory control system for multiple robots according to claim 1, wherein the function of the distance moved and the rotation angle of the robot end flange comprises three process descriptions: the moving distance of the center point of the tail end flange, the normal rotation angle of the tail end flange and the rotation angle of the tail end flange along the initial normal are determined;
the moving distance of the central point of the end flange is as follows: describing the distance process from a starting point to an end point by the center point of the end flange according to a planned straight line path and a designated speed; or, the center point of the end flange describes the distance process from a starting point to an end point according to a planned circular arc path and a specified speed;
the normal rotation angle of the end flange is a rotation angle process description function of the normal direction of the end flange moving from the initial normal position to the final normal position according to the planned speed; the angle of rotation of the end flange along the initial normal is an angular course describing function of the normal of the end flange rotating along the initial normal from the initial position to the end position at a planned speed.
5. The trajectory control system for multiple robots according to claim 1, wherein the turning angle-time curve is: and in the rectangular coordinate system, a horizontal axis is used as time scale, and a vertical axis is a curve formed by the rotation angle of the motor.
6. The trajectory control system for multiple robots according to claim 2, wherein the subordinate robot controller includes:
the robot communication control module is used for mutual communication among all modules in the lower robot controller, realizes serial interaction of interaction data among all modules in the lower robot controller in a uniform coding mode, and solves data communication blockage through defined priority; packaging different data according to a standard industrial bus protocol, and transmitting the packaged data to an upper controller in a standard industrial bus protocol format;
the robot safety PLC module is used for acquiring acquired information acquired by each sensor and each encoder of the lower robot, encoding the acquired information and transmitting the state parameters to the upper PLC module; the upper PLC module matches the received state parameters with the pre-stored parameters to obtain the state information of the robot safety PLC module, and the state information is displayed through a user interface;
the fine interpolation calculation module is used for calculating an angle value of the joint motor which needs to rotate within a specified fine interpolation time period according to the received rotation angle-time curve to obtain a control voltage-time curve;
and the joint driver is used for finishing the driving of the motor of each joint driver according to the control voltage-time curve.
7. The trajectory control system for multiple robots according to claim 6, wherein the state parameters comprise: safety inspection information, driver running information, driver stopping information and interaction information of the upper PLC module and the robot safety PLC module.
8. The trajectory control system for multiple robots according to claim 6, wherein the control voltage-time curve is: in a rectangular coordinate system, a horizontal axis is taken as a time scale, a vertical axis is taken as a control voltage value, and the voltage value fluctuates along with the time change within a range of +/-12V.
9. A trajectory control method for multiple robots, comprising:
resolving the received numerical control instruction through an upper controller to obtain a rotation angle-time curve; the method comprises the following steps: the pre-reading subsystem pre-reads and interprets the received numerical control instruction, determines the category of the numerical control instruction, transmits the functional instruction to the upper PLC module through the upper computer communication module, and transmits the motion instruction to the coarse interpolation calculation module through the upper computer communication module; the category of the numerical control instruction comprises the following steps: a function instruction and a motion instruction; segmenting the motion instruction according to the coarse interpolation time step length set by the system through a coarse interpolation calculation module, so that the discretization of the motion instruction becomes a function of the moving distance and the rotating angle of the robot tail end flange in the set time length; calculating functions of the moving distance and the rotating angle of the end flange of the robot through a servo calculation module and a robot inverse kinematics algorithm to obtain motor rotating angle values corresponding to each rotating joint of the robot, so as to obtain a rotating angle-time curve; receiving a function instruction through an upper PLC module, and executing a function indicated by the function instruction; through the upper computer communication module, the functional instruction is transmitted to the upper PLC module in a uniform coding mode, and the motion instruction is transmitted to the coarse interpolation calculation module, so that serial interaction is realized;
sending the rotation angle-time curve to a lower robot controller through a bus coupler;
and the lower robot controller completes the driving of the joints and the end effector motor of the robot according to the received rotation angle-time curve.
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| JP5897644B2 (en) * | 2014-06-02 | 2016-03-30 | 株式会社神戸製鋼所 | 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 |
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