CN111427310A - Industrial robot controller operation system - Google Patents
Industrial robot controller operation system Download PDFInfo
- Publication number
- CN111427310A CN111427310A CN202010249409.2A CN202010249409A CN111427310A CN 111427310 A CN111427310 A CN 111427310A CN 202010249409 A CN202010249409 A CN 202010249409A CN 111427310 A CN111427310 A CN 111427310A
- Authority
- CN
- China
- Prior art keywords
- industrial robot
- soft
- module
- controller
- task
- 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.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4147—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using a programmable interface controller [PIC]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31137—Sercos serial real time communications system between servo and cpu
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
The invention provides an industrial robot controller operation system which mainly comprises an operation management layer, a business processing layer and a hardware interface layer, wherein an RC operation controller is arranged in the operation management layer, an RC task module with analysis and calculation functions is arranged in the business processing layer, a soft P L C module is arranged in the business processing layer, information interaction between the RC task module and the soft P L C module is realized, a control program for controlling an external industrial robot servo driver and I/O equipment is generated, the control program is transmitted to the external industrial robot servo driver and the I/O equipment through the hardware interface layer, the control over the external industrial robot servo driver and the I/O equipment is realized, tasks such as complex motion planning, forward and inverse solution calculation and the like are realized in the operation system, the openness and the expansibility of the robot controller operation system are improved, the wiring structure is simplified, and the determinacy and the reliability of the industrial robot controller operation system are improved.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an industrial robot controller operation system.
Background
At present, an industrial robot mainly comprises a robot body, a robot controller and a servo motor system, wherein the robot controller is a core control part of the whole industrial robot system and controls the robot to complete an operation task according to actions specified by a user. The design of the robot controller plays a key role in improving the performance of the robot, and is one of the major requirements of the research and development of the domestic industrial robot. In order to meet the requirements of various complex industrial applications which may be faced, an industrial robot controller system architecture must have the characteristics of universality, openness, modularization, easy expansion and the like.
The existing industrial robot Controller adopts a framework of 'PC (Programmable Controller, PC for short) + motion control card', functions such as complex motion planning, forward and reverse solution calculation and the like are completed on the motion control card, and the work such as interface operation, task coordination and the like is realized by means of a strong management function of the PC, which typically represents a PMAC motion control card of the company Delta Tau in the united states. However, the robot controller system based on the framework has the defects of poor openness, poor expansibility, complex wiring and the like.
The robot software model has the advantages that the relation among the functional modules in the robot software model is complicated, the functional modules are in series and parallel, the functional modules are in parallel and nested, and the functional modules are driven by data and time. How to map a robot software model to an operation entity in an operation system, and under the condition of limited computing resources and communication resources, a robot operation system is realized, so that the robot function can be realized, the real-time performance of the robot can be ensured, and the method is a very challenging problem.
Disclosure of Invention
The invention provides an industrial robot controller operation system, which is used for improving the openness and expansibility of the robot controller operation system and simplifying a wiring structure; and the design of adopting a real-time multitask and modularization mode is realized, and the determinability and the reliability of the industrial robot controller operation system are improved.
The invention provides an industrial robot Controller operation system which mainly comprises three functional layers, namely an operation management layer, a business processing layer and a hardware interface layer, wherein the operation management layer comprises a system operation manager used for being in communication connection with an external upper computer, and an RC (robot motion control) operation Controller used for being in communication connection with an external teaching box to receive teaching operation transmitted by the teaching box and execute the teaching operation, the RC operation Controller is further used for processing the execution of the teaching operation to generate an execution teaching program, the business processing layer is in communication connection with the operation management layer, the business processing layer comprises an RC task module in communication connection with the RC operation Controller and a soft P L C (Programmable logic Controller) module with logic and process control functions, the RC task module comprises a language parser used for interpreting the execution of the teaching program transmitted by the RC operation Controller and generating a robot motion instruction sequence, a motion Controller used for completing the calculation of the robot motion control according to the robot motion instruction sequence, a servo communication interface driver used for reading a result of the operation Controller connected with the servo I/O interface module and the servo interface Controller, and a hardware interface driver used for reading the servo communication interface driver and generating an I/O communication interface driver of the servo communication interface Controller and a servo interface device connected with the industrial robot control device.
In the scheme, the RC operation controller is arranged in the operation management layer, the RC task module with analysis and calculation functions is arranged in the business processing layer, the soft P L C module is arranged in the business processing layer, information interaction between the RC task module and the soft P L C module is realized, a control program for controlling an external industrial robot servo driver and an I/O device is generated and transmitted to the external industrial robot servo driver and the I/O device through the hardware interface layer, and control over the external industrial robot servo driver and the I/O device is realized.
In one specific embodiment, the motion controller performing robot motion control calculations according to the robot motion command sequence includes: the method comprises the following steps of trajectory planning, forward and inverse solution calculation and interpolation calculation, so that the operation system can conveniently perform complex tasks such as motion planning and forward and inverse solution calculation, and the structure of the operation system is simplified.
In one specific embodiment, the RC operation controller includes: the teaching box communication interface is used for being in communication connection with the teaching box; the command processing module is used for processing the teaching execution operation transmitted by the teaching box and generating a teaching execution program; and the RC task control module is used for transmitting the execution teaching program to the RC task module so as to control the teaching box and the RC task module, when the RC task module performs task processing, the RC task control module can block and monitor a communication interface of the teaching box, control the RC task module to control the RC task according to the operation of the teaching box, and execute robot teaching operation or reproduction operation.
In one specific embodiment, the soft P L C module implements logic and process control functions according to IEC61131-3 language standard, and the soft P L C module includes a soft P L C virtual machine for reading the calculation results of the motion controller and generating control programs for controlling external industrial robot servo drivers and I/O devices, a soft P L C program runtime image register communicatively connected to the soft P L C virtual machine for storing IEC61131-3 language program code, and a soft P L C virtual machine for interpreting and executing the IEC61131-3 language program code, and a runtime library communicatively connected to the soft P L C virtual machine for providing the soft P L C virtual machine with function functions, thereby facilitating time-sharing work between the soft P L C module and RC tasks and cooperation therebetween.
In a specific embodiment, the function comprises a standard function specified by the IEC61131-3 standard, and a wrapper function of a function block and a system resource, so as to realize information interaction and interaction between the soft P L C module and the RC task.
In a specific embodiment, the function block and the wrapper function of the system resource include a file read-write function, a memory operation function, a bus communication function, a communication interface calling function of the RC task module, and a communication interface calling function of the servo task, so as to facilitate the cooperation between the soft P L C module and the RC task module.
In a specific embodiment, the service processing layer further comprises a shared memory module which is in communication connection with the RC task module and in communication connection with the soft P L C virtual machine, the shared memory module is used for storing a calculation result processed by the RC task module, the soft P L C virtual machine is further used for reading the calculation result, processing the read calculation result and generating a control program for controlling an external industrial robot servo driver and an I/O device, and the shared memory module is arranged so that the processing result can be shared between the RC task module and the soft P L C module without copying, and therefore the operation speed of the operation system is improved.
In a specific embodiment, a servo data mapping area used for storing a control program of the soft P L C virtual machine and in communication connection with the servo interface submodule and an I/O data mapping area used for storing the control program of the soft P L C virtual machine and in communication connection with the I/O interface submodule are arranged in the shared memory module.
In a specific embodiment, the calculation result is a multi-axis position interpolation value of the industrial robot, the soft P L C virtual machine is further used for reading the position interpolation value and processing the position interpolation value and generating a corresponding control program, and the soft P L C virtual machine is further used for writing the corresponding control program into the servo data mapping area, so that the operation system can conveniently control the industrial robot to perform corresponding actions.
In a specific embodiment, the operation management layer further includes a system operation monitor, and the system operation monitor periodically checks the operation state and the device state of each module of the system and processes and alarms the abnormal condition, so as to improve the response speed of the operation system to the abnormal condition and improve the determinability of the operation system.
Drawings
Fig. 1 is a schematic block diagram of an overall architecture of an industrial robot control system provided by an embodiment of the present invention;
fig. 2 is a schematic block diagram of an industrial robot controller operating system according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a RC motion command data flow according to an embodiment of the present invention.
Reference numerals:
10-operation management layer 11-RC operation controller 111-teaching box communication interface
112-command processing module 113-RC task control module 12-system operation monitor
131-upper computer communication interface 132-engineering file loading analysis module
133-system task management module 20-business processing layer 21-RC task module
211-language parser 212-motion controller
22-shared memory module 221-servo data mapping region 222-I/O data mapping region
23-Soft P L C virtual machine 24-Soft P L C program runtime image register
25-runtime library 30-hardware interface layer 31-servo interface submodule
32-I/O interface sub-module
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to facilitate understanding of the industrial robot controller operating system provided by the embodiment of the present invention, an application scenario of the industrial robot controller operating system provided by the embodiment of the present invention is first described below, where the industrial robot controller operating system is used for controlling an industrial robot, and the industrial robot controller operating system is used as an external teach pendant and a host computer, and a control unit between an industrial robot servo driver and an I/O device, and the control unit receives control commands transmitted by the teach pendant and the host computer, performs corresponding processing on the control commands, and transmits the control commands to the external industrial robot servo driver and the I/O device, so that the industrial robot servo driver and the I/O device perform corresponding operations, thereby implementing control on the industrial robot servo driver and the I/O device. The polarizer will be described in detail with reference to the accompanying drawings.
The overall architecture of the industrial robot control system shown in fig. 1 is composed of a handheld teaching box, an upper computer, a controller, servo system equipment, a motor and an I/O equipment system on hardware. The teaching box and the upper computer are communicated with an industrial robot controller operation system through a general TCP/IP protocol; the industrial robot controller operation system provides a high-speed field bus (EtherCAT bus) as a general hardware device interface. Meanwhile, a remote communication interface based on a TCP/IP protocol is provided for realizing the interaction between an industrial robot controller operation system and an application program in external intelligent equipment (programmable equipment supporting universal internet access communication).
Referring to fig. 1 and 2, the present invention uses L inux/Xenomai dual-kernel operating system as a real-time running platform, and an EtherCAT fieldbus as a controller scheme of a universal device interface, a bottom operating system of the running system uses an open source operating system L inux + Xenomai, where Xenomai is a strong real-time extension of L inux kernel using a dual-kernel mechanism, because of the implementation and complexity of the L inux kernel itself, L inux itself cannot be used for strong real-time applications, under the dual-kernel technique, there is a microkernel supporting strong real-time, which runs on a hardware platform together with a L inux kernel, the priority of the real-time kernel is higher than that of L inux kernel, which (microkernel) is responsible for real-time tasks of the processing system, whereas L inux is responsible for handling non-time tasks, and only when there is a real-time kernel that needs to handle real-time tasks, L inux kernel gets a running kernel service opportunity to provide service, service development, real-time service, and application, real-time management tasks including dynamic management, real-time service, and real-time service management tasks.
The method comprises the steps of providing a real-time communication component, a real-time control component and a real-time I/O component in an inner core state space, solving the problem of high real-time requirements of robot communication, closed-loop control, I/O processing and the like, providing a machine vision component and a motion control component in a user state space, solving the problems of image recognition, trajectory planning, operation model solving and the like, and providing system service components such as task scheduling, storage management, event management, web service and the like.
Referring to fig. 2, the industrial robot controller operation system provided by the embodiment of the invention mainly includes three functional layers, namely an operation management layer 10, a business processing layer 20 and a hardware interface layer 30, wherein the operation management layer 10 includes a system operation manager for being in communication connection with an external upper computer, and an RC operation controller 11 for being in communication connection with an external teach pendant to receive teach operations transmitted by the teach pendant, wherein the RC operation controller 11 is further used for processing the teach operations to generate the teach programs, the business processing layer 20 is in communication connection with the operation management layer 10, the business processing layer 20 includes an RC task module 21 in communication connection with the RC operation controller 11, and a soft P L C module having logic and process control functions, wherein the RC task module 21 includes a language parser 211 for interpreting the teach programs transmitted by the RC operation controller 11 and generating a robot motion instruction sequence, and a motion controller 212 for completing robot motion control calculation according to the robot motion instruction sequence, a soft P L C module for reading calculation results of the motion controller 212 and generating calculation results for controlling robot motion, and an industrial robot interface module 30 and a servo interface 30 connected with an industrial robot interface controller 30 and a servo interface 30.
In the above solution, the RC operation controller 11 is disposed in the operation management layer 10, the RC task module 21 with parsing and calculating functions is disposed in the service processing layer 20, and the soft P L C module is disposed in the service processing layer 20, so as to realize information interaction between the RC task module 21 and the soft P L C module, generate a control program for controlling an external industrial robot servo driver and an I/O device, and transmit the control program to the external industrial robot servo driver and the I/O device through the hardware interface layer 30, thereby realizing control over the external industrial robot servo driver and the I/O device, performing tasks such as complex motion planning and forward and reverse solution calculation in the operation system, improving the openness and expansibility of the robot controller operation system, simplifying the wiring structure, and realizing design in a real-time multitask and modularized manner, improving the determinability and reliability of the industrial robot controller operation system.
When the RC operation controller 11 described above is specifically set, referring to fig. 2, it includes: a teach pendant communication interface 111 for communicative connection with a teach pendant; a command processing module 112 for processing the teaching operation transmitted by the teaching box and generating a teaching program; and an RC task control module 113 for transmitting the execution teaching program to the RC task module 21, so as to control the teaching box and the RC task module 21, when the RC task module 21 performs task processing, the RC task control module 113 can block the monitoring teaching box communication interface 111, and control the RC task module 21 to control the RC task according to the teaching box operation, and execute robot teaching operation or reproduction operation.
When the motion controller 212 completes the robot motion control calculation according to the robot motion command sequence, it mainly performs trajectory planning, forward and inverse solution calculation, and interpolation calculation, thereby facilitating the operation system to perform complex tasks such as motion planning, forward and inverse solution calculation, and simplifying the structure of the operation system.
Referring to fig. 3, specific contents of the RC operation management include: as an RC system responsible for robot motion control functions, it is necessary to provide a user with a user programming instruction set (i.e., a robot control language) for robot job programming and motion control algorithms oriented to various robot structural models. The RC process is composed of three thread-level subtasks, a robot language interpreter finishes the function of interpreting and executing robot program instructions, an RC interpolation arithmetic unit provides a motion control function facing a specific robot, and an RC operation management task is responsible for operation management of an RC system and a communication function with a teaching box.
Referring to fig. 2, after a robot language interpreter task is started, it is in a state of waiting for execution, when the robot performs reproduction operation, a robot engineering name and a program name to be executed are set through a teach pendant operation, that is, currproject and currprogram entry information in rccurrstate are set, then reproduction operation is started, an RC operation management task sets rccurstate.start to 1, the robot language interpreter starts to execute, a corresponding program is loaded and compiled, after normal compilation, rccurstate.ready is set to 1, which indicates that the program is ready, and at this time, if the system is in a single step execution mode, after receiving an operation command of the RC operation management task each time, an instruction is executed; if the program is in the continuous operation mode, after receiving an operation command of the RC operation management task, the program is continuously executed until the program is ended, and the program execution can be interrupted by changing the operation mode or setting rccur state.
Referring to fig. 2 and 3, when performing interpolation calculation on an RC, an RC interpolation operator task is mainly used for providing calculation functions such as trajectory planning, forward and reverse solution, multi-axis interpolation and the like for a specific robot object, and is also a task which mainly performs data interaction with a soft P L C in an RC process, an input of the interpolation operator is an RC internal motion instruction buffer area, and when the buffer area is empty, the interpolation operator task is to wait for blocking.
When the soft P L C module is specifically arranged, the soft P L C module realizes logic and process control functions according to IEC61131-3 language standard, and the soft P L0C module comprises a soft P L1C virtual machine 23 used for reading the calculation result of the motion controller 212 and generating a control program for controlling an external industrial robot servo driver and I/O equipment, a soft P L C program runtime image register 24 in communication connection with the soft P L C virtual machine 23 for storing IEC61131-3 language program codes, and the soft P L C virtual machine 23 is also used for interpreting and executing the IEC61131-3 language program codes, and a runtime library 25 in communication connection with the soft P L C virtual machine 23 for providing function functions for the soft P L C virtual machine 23, so that the soft P L C module and an RC task can conveniently work in a time sharing mode and cooperate with each other task, wherein the soft P L C module provided by means of a real-time operating system platform to realize functions in a software mode, and the application of the soft P L C module, the traditional P L module, the traditional method, the system and the system can conveniently realize the function migration of the functions, the complex network and the complex network processing platform facing to other complex computing services.
In addition, the function blocks and the packaging function of the system resource comprise a file read-write function, a memory operation function, a bus communication function, a communication interface calling function of the RC task module 21 and a communication interface calling function of a servo task, so that the soft P L C module is matched with the RC task module 21.
Referring to fig. 2, the service processing layer 20 may further include a shared memory module 22 in communication connection with both the RC task module 21 and the soft P L C virtual machine 23, where the shared memory module 22 is configured to store a calculation result processed by the RC task module 21, the soft P L C virtual machine 23 is further configured to read the calculation result, process the read calculation result, and generate a control program for controlling an external industrial robot servo driver and an I/O device, and by setting the shared memory module 22, sharing of the processing result between the RC task module 21 and the soft P L C module is facilitated, and a copy operation is not required, so that an operation speed of the operating system is increased.
When the shared memory module 22 is specifically configured, referring to fig. 2, a servo data mapping area 221 for storing a control program of the soft P L C virtual machine 23 and communicatively connected to the servo interface sub-module 31, and an I/O data mapping area 222 for storing a control program of the soft P L C virtual machine 23 and communicatively connected to the I/O interface sub-module may be provided in the shared memory module 22.
And when the method is applied, the calculation result is a multi-axis position interpolation value of the industrial robot, the soft P L C virtual machine 23 is also used for reading the position interpolation value and processing the position interpolation value to generate a corresponding control program, and the soft P L C virtual machine 23 is also used for writing the corresponding control program into the servo data mapping area, so that the operating system can conveniently control the industrial robot to perform corresponding actions.
When the system operation manager is specifically set, referring to fig. 2, the system operation manager comprises an upper computer communication interface 131 for communication connection with an external upper computer, an engineering file loading and analyzing module 132 for loading and analyzing an engineering file, and a system task management module 133 for controlling the engineering file loading and analyzing module 132 and the service processing layer 20, the system operation manager system is divided into an automatic operation mode (default mode) and a management debugging mode, when in operation, the system operation manager is firstly powered on, then the system operation manager is started and enters the automatic operation mode, engineering files are loaded from the default path (the contents of the engineering files comprise robot parameter information, P L C task configuration and program segments, I/O and servo task configuration information and the like, which can be edited and configured by the upper computer programming system), other subtasks are initialized and generated by analyzing the engineering files if the engineering files are loaded successfully, the engineering files enter the operation mode of the upper computer, a corresponding debugging task management module 3623, a debugging module 23 starts and executes a corresponding task plug according to the operation command, the initial value of a debugging module, a debugging module 23, a debugging module starts a debugging module, starts and executes a corresponding task, a corresponding task management module 54, a debugging task is started, and started, a debugging task is started, a corresponding task management module 23, a debugging task is started, a debugging task management module 23, a debugging task is started, a debugging task management module is started, a debugging task is started, a corresponding sub-started, a debugging task management module is started, a debugging task is started, a debugging.
The servo interface submodule 31 and the I/O interface submodule are a bridge for connecting a controller with an industrial robot servo driver and an I/O device of the peripheral equipment, the servo interface submodule 31 and the I/O interface submodule are implemented as two independent process-level tasks, the two communicate with a soft P L C virtual machine through a shared memory module 22, the industrial robot controller operating system finally needs to output a calculation result to an external execution mechanism, in order to adapt to different external hardware equipment, an abstract equipment mapping area is established in the shared memory module 22, the calculation result and a control program processed by the soft P L C virtual machine 23 are not directly output to the external equipment but are written into a corresponding memory mapping area, and then the corresponding servo interface submodule 31 or the I/O interface submodule is responsible for periodically sending output data of the mapping area to the external equipment (the I/O equipment or the industrial robot servo driver), similarly, the industrial robot controller operating system also needs to execute a similar process when acquiring peripheral input of the peripheral equipment.
Referring to fig. 2, the operation management layer 10 further includes a system operation monitor 12, the system operation monitor 12 periodically checks the operation state of each module of the system, the device state, and processes and alarms abnormal situations to improve the speed of the operation system responding to the abnormal situations and improve the determinability of the operation system, in the operation of the industrial robot, the system operation monitor 12 periodically checks the operation state of each task of the system, the device state, and processes and alarms abnormal situations, an RC task control module 113 blocks and monitors a teach box communication interface 111, controls the RC task module 21 according to the teach box operation to execute the robot teach operation or reproduce the operation, the RC task module 21 calculates and generates a multi-axis position interpolation value according to a motion instruction and writes the multi-axis position interpolation value into a circular queue of a shared memory module 22, a soft P L C virtual machine 23 periodically processes logical traffic, simultaneously writes a position interpolation value read from the circular queue into a servo data mapping area 221, sends the position interpolation value to an external industrial robot servo driver submodule 31, the servo interface submodule 31 sends the position interpolation value into an industrial data mapping area, the servo interface sub-module 31, a hardware interface manager is configured with a high priority, a high priority, a priority.
System task priority assignment table 1
The RC operation controller 11 is arranged in the operation management layer 10, the RC task module 21 with analysis and calculation functions is arranged in the business processing layer 20, the soft P L C module is arranged in the business processing layer 20, information interaction between the RC task module 21 and the soft P L C module is realized, a control program for controlling an external industrial robot servo driver and an I/O device is generated and transmitted to the external industrial robot servo driver and the I/O device through the hardware interface layer 30, and control over the external industrial robot servo driver and the I/O device is realized.
The above description is only for the specific embodiments 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. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. An industrial robot controller operation system, comprising:
the operation management layer comprises a system operation manager used for being in communication connection with an external upper computer and an RC operation controller used for being in communication connection with an external teaching box to receive teaching operation executed by the teaching box transmitted by the teaching box; the RC running controller is further used for processing the teaching execution operation to generate a teaching execution program;
the system comprises an operation management layer and a business processing layer, wherein the business processing layer is in communication connection with the operation management layer and comprises an RC task module in communication connection with the RC operation controller and a soft P L C module with logic and process control functions, the RC task module comprises a language parser and a motion controller, the language parser is used for interpreting and executing an execution teaching program transmitted by the RC operation controller and generating a robot motion instruction sequence, the motion controller is used for completing robot motion control calculation according to the robot motion instruction sequence, and the soft P L C module is used for reading a calculation result of the motion controller and generating a control program for controlling an external industrial robot servo driver and an external I/O device.
And the hardware interface layer is in communication connection with the business processing layer and comprises a servo interface submodule used for being in communication connection with the industrial robot servo driver and an I/O interface submodule in communication connection with the I/O equipment.
2. An industrial robot controller operating system according to claim 1, wherein the motion controller performing robot motion control calculations in accordance with the sequence of robot motion commands comprises: trajectory planning, forward and inverse solution calculation and interpolation calculation.
3. An industrial robot controller operating system according to claim 1, wherein the RC operation controller comprises:
a teach pendant communication interface for communicative connection with the teach pendant;
the command processing module is used for processing the teaching execution operation transmitted by the teaching box and generating a teaching execution program;
and an RC task control module for transmitting the execution teaching program to the RC task module.
4. An industrial robot controller operating system according to claim 1, characterized in that said soft P L C module implements said logic and process control functions according to IEC61131-3 language standard;
and the soft P L C module includes:
a soft P L C virtual machine for reading the calculation results of the motion controller and generating a control program for controlling external industrial robot servo drivers and I/O devices;
a soft P L C program runtime image register communicatively coupled to the soft P L C virtual machine to store IEC61131-3 language program code, and the soft P L C virtual machine is also used to interpret and execute the IEC61131-3 language program code;
communicatively coupled with the soft P L C virtual machine to provide the soft P L C virtual machine with a runtime library of functional functions.
5. An industrial robot controller operating system according to claim 4, characterized in that the function functions include standard functions specified by the IEC61131-3 standard, and packing functions of function blocks, system resources.
6. The industrial robot controller execution system of claim 5, wherein the function block, the wrapper function of the system resource comprises a file read-write function, a memory operation function, a bus communication function, a communication interface call function of the RC task module, and a communication interface call function of the servo task.
7. An industrial robot controller operating system according to any of claims 1-6, characterized in that the business process layer further comprises:
the soft P L C virtual machine is also used for reading the calculation result and processing the read calculation result and generating a control program for controlling an external industrial robot servo driver and I/O equipment.
8. An industrial robot controller operating system according to claim 7, wherein a servo data mapping area for storing a control program of the soft P L C virtual machine and communicatively connected to the servo interface sub-module is provided in the shared memory module;
and the I/O data mapping area is used for storing a control program of the soft P L C virtual machine and is in communication connection with the I/O interface submodule.
9. An industrial robot controller operating system according to claim 8, characterized in that the calculation result is a multi-axis position interpolation of the industrial robot;
the soft P L C virtual machine is further configured to read the position interpolation value and process the position interpolation value to generate a corresponding control program, and the soft P L C virtual machine is further configured to write the corresponding control program into the servo data mapping area.
10. The industrial robot controller operation system according to claim 1, wherein the operation management layer further comprises a system operation monitor which periodically checks operation states of respective modules of the system, equipment states, and processes and alarms abnormal situations.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010249409.2A CN111427310A (en) | 2020-03-31 | 2020-03-31 | Industrial robot controller operation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010249409.2A CN111427310A (en) | 2020-03-31 | 2020-03-31 | Industrial robot controller operation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111427310A true CN111427310A (en) | 2020-07-17 |
Family
ID=71550418
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010249409.2A Pending CN111427310A (en) | 2020-03-31 | 2020-03-31 | Industrial robot controller operation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111427310A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112605989A (en) * | 2020-11-27 | 2021-04-06 | 成都飞机工业（集团）有限责任公司 | Integrated control method for hole-making end effector and industrial robot |
| CN113433894A (en) * | 2021-07-17 | 2021-09-24 | 中山迈雷特数控技术有限公司 | Multi-channel multi-axis linkage numerical control system and method based on industrial PC |
| CN113814986A (en) * | 2021-11-23 | 2021-12-21 | 广东隆崎机器人有限公司 | Method and system for controlling SCARA robot based on machine vision |
| CN113839994A (en) * | 2021-09-06 | 2021-12-24 | 珠海格力电器股份有限公司 | Data downloading method, device and system based on motion controller |
| CN114035573A (en) * | 2021-10-15 | 2022-02-11 | 上海铁路通信有限公司 | AGV peripheral control method based on PLC controller |
| CN114571443A (en) * | 2022-04-28 | 2022-06-03 | 北京深度奇点科技有限公司 | System and method for teaching robot motion through mobile terminal wireless control low code |
| CN114879593A (en) * | 2022-05-07 | 2022-08-09 | 科东(广州)软件科技有限公司 | Method, device and equipment for real-time system to operate PLC (programmable logic controller) and storage medium |
| WO2023028881A1 (en) * | 2021-08-31 | 2023-03-09 | Siemens Aktiengesellschaft | System, method and storage medium for production system automatic control |
| CN116700094A (en) * | 2023-06-21 | 2023-09-05 | 哈尔滨博尼智能技术有限公司 | Data driving control system |
| CN117118278A (en) * | 2023-10-24 | 2023-11-24 | 扬州威森船舶配件有限公司 | Multi-path control method for stepping motor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103576614A (en) * | 2013-11-13 | 2014-02-12 | 东华大学 | Multi-axis motion control system |
| JP2015134396A (en) * | 2014-01-17 | 2015-07-27 | 株式会社神戸製鋼所 | Control system for controlling industrial robot, control device, method for manufacturing weldment and program |
| CN106239520A (en) * | 2016-08-23 | 2016-12-21 | 深圳市中科智敏机器人科技有限公司 | Possesses the intelligent industrial robot movement-control system of cognitive competence |
| CN209149128U (en) * | 2018-12-28 | 2019-07-23 | 上海机器人产业技术研究院有限公司 | A kind of industrial robot datamation acquisition analysis system |
| CN110524543A (en) * | 2019-09-29 | 2019-12-03 | 华中科技大学 | A kind of industrial robot control device and system based on manipulation one |
-
2020
- 2020-03-31 CN CN202010249409.2A patent/CN111427310A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103576614A (en) * | 2013-11-13 | 2014-02-12 | 东华大学 | Multi-axis motion control system |
| JP2015134396A (en) * | 2014-01-17 | 2015-07-27 | 株式会社神戸製鋼所 | Control system for controlling industrial robot, control device, method for manufacturing weldment and program |
| CN106239520A (en) * | 2016-08-23 | 2016-12-21 | 深圳市中科智敏机器人科技有限公司 | Possesses the intelligent industrial robot movement-control system of cognitive competence |
| CN209149128U (en) * | 2018-12-28 | 2019-07-23 | 上海机器人产业技术研究院有限公司 | A kind of industrial robot datamation acquisition analysis system |
| CN110524543A (en) * | 2019-09-29 | 2019-12-03 | 华中科技大学 | A kind of industrial robot control device and system based on manipulation one |
Non-Patent Citations (1)
| Title |
|---|
| 姚舜;马旭东: "工业机器人控制器实时多任务软件设计与实现", 《工业控制计算机》 * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112605989A (en) * | 2020-11-27 | 2021-04-06 | 成都飞机工业（集团）有限责任公司 | Integrated control method for hole-making end effector and industrial robot |
| CN113433894A (en) * | 2021-07-17 | 2021-09-24 | 中山迈雷特数控技术有限公司 | Multi-channel multi-axis linkage numerical control system and method based on industrial PC |
| WO2023028881A1 (en) * | 2021-08-31 | 2023-03-09 | Siemens Aktiengesellschaft | System, method and storage medium for production system automatic control |
| CN113839994A (en) * | 2021-09-06 | 2021-12-24 | 珠海格力电器股份有限公司 | Data downloading method, device and system based on motion controller |
| CN114035573A (en) * | 2021-10-15 | 2022-02-11 | 上海铁路通信有限公司 | AGV peripheral control method based on PLC controller |
| CN113814986A (en) * | 2021-11-23 | 2021-12-21 | 广东隆崎机器人有限公司 | Method and system for controlling SCARA robot based on machine vision |
| CN114571443A (en) * | 2022-04-28 | 2022-06-03 | 北京深度奇点科技有限公司 | System and method for teaching robot motion through mobile terminal wireless control low code |
| CN114879593A (en) * | 2022-05-07 | 2022-08-09 | 科东(广州)软件科技有限公司 | Method, device and equipment for real-time system to operate PLC (programmable logic controller) and storage medium |
| CN116700094A (en) * | 2023-06-21 | 2023-09-05 | 哈尔滨博尼智能技术有限公司 | Data driving control system |
| CN116700094B (en) * | 2023-06-21 | 2024-03-01 | 哈尔滨博尼智能技术有限公司 | Data driving control system |
| CN117118278A (en) * | 2023-10-24 | 2023-11-24 | 扬州威森船舶配件有限公司 | Multi-path control method for stepping motor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111427310A (en) | Industrial robot controller operation system | |
| JP3269003B2 (en) | Robot controller | |
| JP5149258B2 (en) | Robot component management device | |
| US20030220715A1 (en) | Coordinated robot control from multiple remote instruction sources | |
| JPH0895821A (en) | Method and device for multitask program debugging | |
| US20080147206A1 (en) | Control system for Real Time Applications for Cooperative Industrial Robots | |
| WO2018192178A1 (en) | Point-to-point motion control method and system for robot | |
| CN102955460A (en) | Control system of numerical control system master station over input/output (IO) terminal slave station | |
| CN113954104B (en) | Multi-thread controller of parallel robot | |
| WO2024140416A1 (en) | Industrial control program development platform and method | |
| Yu et al. | Design of controller system for industrial robot based on RTOS Xenomai | |
| KR100836739B1 (en) | Apparatus and method for mapping logical-physical connection of robot device | |
| Feldman et al. | System Support for the Stanford Hand-Eye System. | |
| Hace et al. | Control system for the waterjet cutting machine | |
| Kossman et al. | A multi-processor Robot control system for RCCL under iRMX | |
| CN106965181B (en) | Robot control method and system based on ROS and OROCOS | |
| JPH08106320A (en) | Automatic machine and control method for automatic machine | |
| CN114690702B (en) | Robot control system combining soft PLC and motion control | |
| US5812846A (en) | Method and apparatus for passing control from a first process to a second process | |
| Li et al. | Software protocol design: Communication and control in a multi-task robot machine for ITER vacuum vessel assembly and maintenance | |
| Baird et al. | Coordination software for robotic workcells | |
| AU2016102107A4 (en) | Robot control system | |
| JPH0991022A (en) | Robot controller | |
| Balasubramanian | A metamorphic control architecture for holonic systems. | |
| Dupourqué et al. | Towards multi-processor and multi-robot controllers |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200717 |
|
| RJ01 | Rejection of invention patent application after publication |