CN112109089A - Multi-bus real-time control system of robot - Google Patents
Multi-bus real-time control system of robot Download PDFInfo
- Publication number
- CN112109089A CN112109089A CN202010989085.6A CN202010989085A CN112109089A CN 112109089 A CN112109089 A CN 112109089A CN 202010989085 A CN202010989085 A CN 202010989085A CN 112109089 A CN112109089 A CN 112109089A
- Authority
- CN
- China
- Prior art keywords
- robot
- module
- bus
- data
- command
- 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
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
Abstract
The invention discloses a multi-bus real-time control system of a robot, relates to the field of robot control, and aims to solve the problems that the multi-bus communication data real-time performance of the existing robot controller is poor and the data acquisition is difficult because the existing robot control system uses different buses; the data acquisition module is connected with the data processing module and used for acquiring the operation data of the robot in real time through various buses and sending the operation data to the data processing module; the data processing module is connected with the command output module and used for processing the running data to generate an execution command and sending the execution command to the command output module; and the command output module is used for sending the execution command to the corresponding execution mechanism through various buses, so that the corresponding execution mechanism can make corresponding action according to the execution command.
Description
Technical Field
The invention relates to the field of robot control, in particular to a robot control system based on various field bus accesses, multi-path data real-time analysis and multi-path data command issuing.
Background
In the current robot control system, along with the improvement of various devices and the use of different buses by different sensor devices in recent years, different bus devices need various conversion interfaces for communication, so that the device maintenance is troublesome.
The robot integrates various different bus modules, and the robot is composed of modules such as a motor, various displacement sensors and various force sensors, the types of buses are various, communication coordination is complex, and much energy and time can be wasted in communication debugging, so that the multi-bus communication data real-time performance of the existing robot controller is poor, and data acquisition is difficult.
Disclosure of Invention
The invention aims to solve the problems that the multi-bus communication data real-time performance of the existing robot controller is poor and the data acquisition is difficult because the existing robot control system uses different buses, and provides a multi-bus real-time control system of a robot.
The invention discloses a multi-bus real-time control system of a robot, which comprises a data acquisition module, a data processing module and a command output module;
the data acquisition module is connected with the data processing module and used for acquiring the operation data of the robot in real time through various buses and sending the operation data to the data processing module;
the data processing module is connected with the command output module and used for processing the running data to generate an execution command and sending the execution command to the command output module;
and the command output module is used for sending the execution command to the corresponding execution mechanism through various buses, so that the corresponding execution mechanism can make corresponding action according to the execution command.
The invention has the beneficial effects that: the invention realizes a multi-bus robot control system which is based on various field bus accesses, multi-path data real-time analysis and multi-path data command issuing. The invention can inquire and analyze the relevant data in real time without changing the network environment of the existing robot, thereby improving the reliability and stability of the robot. And because the system integrates a plurality of types of buses, the system can be compatible with a plurality of bus devices, has strong compatibility and is simple in device maintenance.
Drawings
Fig. 1 is a block diagram of a multi-bus real-time control system of a robot according to the present invention.
Detailed Description
In a first specific embodiment, the multi-bus real-time control system of the robot in the embodiment includes a data acquisition module 1, a data processing module 2 and a command output module 3;
the data acquisition module 1 is connected with the data processing module 2 and is used for acquiring the operation data of the robot in real time through various buses and sending the operation data to the data processing module 2;
the data processing module 2 is connected with the command output module 3 and used for processing the running data to generate an execution command and sending the execution command to the command output module 3;
and the command output module 3 is used for sending the execution command to the corresponding execution mechanism through various buses, so that the corresponding execution mechanism can make corresponding action according to the execution command.
Specifically, the robot multi-bus real-time control system of the embodiment may be configured as a system software based on field multi-bus real-time data processing, and may be compatible with a plurality of bus devices, and have a strong compatibility, thereby implementing functions of multi-bus real-time acquisition, multi-bus data real-time processing, and multi-bus data real-time output. Different buses adopt modular design, and each module can be independently extracted and used as an independent application module; the system supports cross-platform, supports various operating systems such as window, Linux and the like, and can be conveniently transplanted and secondarily developed based on a QNX6.5 system and a microkernel mode. Different operating systems may run.
The system comprises a data acquisition module 1, a data processing module 2 and a command output module 3.
The data acquisition module 1 CAN receive external communication data in real time through a CAN bus, an ECAT bus, a serial port bus and an AD bus; the data processing module 2 processes the communication data transmitted by each bus according to the core algorithm, and the command output module 3 sends the processed data to each bus in real time.
The system can delay the real-time processing data within 1ms, thereby ensuring the smooth motion and the rapid action of the robot. Under the condition of not changing the network environment of the existing robot, multi-bus data analysis, processing and data output are realized, relevant data can be analyzed in real time, and the reliability and stability of robot control are further improved.
The system is connected with various external devices when in use, the external devices comprise a hydraulic servo drive module (joint servo drive module), an IMU (inertial measurement Unit), a remote controller, a motor driver (a motor driver configured by a balance motor), a robot battery, a visual device and the like, the external devices send working state data of the external devices to the system through different industrial buses, the system is designed to acquire the working state information of the industrial devices through different industrial buses, analyze, process and pack the data, and finally the packed data are transmitted to each bus device through an output interface module (a command output module 3).
The multi-bus robot controller comprises a processor board card, a CAN bus acquisition card, an ECAT master station board card, an AD acquisition board card and a power supply card. The various board cards of the controller communicate through a PC104 bus, and the controller structure adopts a stack type structure design, so that the controller has good expansibility, small volume and abundant peripheral interfaces. The processor board card external interface is provided with a serial port 1, a serial port 2, a network port A and a network port B, wherein the serial port 1 is connected to a remote controller, the remote controller controls the robot to move through serial port communication, and the network port A mounted infinite router can communicate with a PC. The CAN card pair is provided with CAN1 and CAN 2. And the ECAT master station board card controls the motor driver slave station. The AD acquisition card is provided with 20 AD acquisition channels, and can acquire the temperature of a robot oil source motor, the high pressure of the robot oil source, the low pressure of the robot oil source and the residual electric quantity of a robot battery. The power card can provide 24V, 12V and 5V voltages for various board cards.
The data acquisition module 1 starts to acquire data in a multi-line mode, and the CAN1 and the CAN2 start two threads to acquire two paths of CAN bus data. The ECAT bus initiates a thread to collect ECAT bus data. The AD bus starts a thread robot high-low voltage and temperature. The serial port bus starts a thread to collect remote control serial port data. Data access between threads is guaranteed through thread locks and semaphores, and data are correctly read and written.
The data processing module 2 starts a thread to process the data of each data acquisition module 1.
And the command output module 3 starts a thread to send the processed data to each motion joint of the robot.
In an optimal embodiment, which is a further description of the implementation manner, the data acquisition module 1 includes a joint displacement data acquisition module 1-1, a robot posture data acquisition module 1-2, a balance motor data acquisition module 1-3, and a control command acquisition module 1-4;
the control command acquisition module 1-4 is connected with the control command generation module through a serial port bus and is used for acquiring control commands;
the joint displacement data acquisition module 1-1 is connected with the robot joint servo module through a first CAN bus and is used for acquiring displacement data of each joint of the robot;
the robot attitude data acquisition module 1-2 is connected with the inertial measurement unit IMU through a second CAN bus and is used for acquiring attitude data of the robot;
the robot balancing system comprises a balancing motor data acquisition module 1-3, a data acquisition module and a data processing module, wherein the balancing motor data acquisition module is connected with a robot balancing motor through an ECAT bus and is used for acquiring parameters of the robot balancing motor;
the operation data of the robot comprises control commands, displacement data of each joint of the robot, attitude data of the robot and parameters of a balance motor of the robot.
Specifically, the bus of the system at least comprises a CAN bus, an ECAT bus, a serial port bus and an AD bus, 4 buses are communicated and fused with each other, and the system software for processing real-time data is realized by utilizing the advantages of each communication.
The specific work flow of the data acquisition module 1 is as follows:
the joint displacement data acquisition module 1-1 acquires current displacement CAN data (namely displacement data of each joint of the robot) of joints such as a power unit, a thigh, a calf, a waist, a big arm and a small arm in real time through a first CAN bus, each joint is provided with a hydraulic driver, the hydraulic driver reports the current actual displacement of each joint to a control system in a period of 5ms, the displacement data length of each joint is 2 bytes, and the data integrity is ensured through system interruption.
Each joint is used as a first CAN bus node, real-time control is carried out through the first CAN bus, data delay from the joint to a real-time system is controlled within 1ms, and each joint moves smoothly and reacts quickly.
The robot attitude data acquisition module 1-2 acquires attitude data of the robot in real time through a second CAN bus, the attitude data of the robot is acquired by the IMU module, and 3 sets of CAN data of three-axis acceleration, three-axis angular velocity and three-axis angular velocity are reported in a 5ms period, and the 3 sets of CAN data guarantee balance of the robot and adjust the attitude of the robot in real time.
The balance motor data acquisition module 1-3 acquires parameters (the parameters include actual speed, actual current and actual position data of the balance motor) of the current robot balance motor fed back by a motor driver (the motor driver configured by the robot balance motor) through an ECAT bus.
The control command acquisition modules 1-4 acquire control commands (from the remote controller) through serial port buses, the control commands are values of all channels of the remote controller, each passing value range is 0-2000, and different channels control movement of all joints of the robot. The data volume of the robot remote controller is not large, so that the bus cost is reduced by adopting a serial port bus. Meanwhile, the serial port is a common bus interface and can be compatible with various remote control devices.
Because a large amount of data passes through the CAN center, the two CAN buses adopt interrupt receiving, and the data is ensured not to be lost. The data volume through the serial port bus and the ECAT bus is not large, the 30ms periodic polling is adopted, the data are not lost, the system resource occupation is reduced, the average filtering algorithm is adopted for each bus acquisition, abnormal data are eliminated, and the data acquisition is ensured to be correct.
In the best embodiment, the embodiment is a further description of the implementation mode, the data processing module 2 includes a joint displacement data processing module 2-1, a robot attitude data processing module 2-2, a balance motor data processing module 2-3 and a control command processing module 2-4;
the control command processing module 2-4 is connected with the joint displacement data processing module 2-1, and the control command acquisition module 1-4 is used for analyzing the control command and sending the analyzed control command to the joint displacement data processing module 2-1;
the joint displacement data processing module 2-1 is connected with the joint displacement data acquisition module 1-1, and is used for obtaining displacement expected values of all joints of the robot according to the control command and the displacement data of all joints of the robot and sending the displacement expected values to the command output module 3;
the robot attitude data processing module 2-2 is connected with the robot attitude data acquisition module 1-2 and used for obtaining a balance adjustment command according to the attitude data and sending the balance adjustment command to the command output module 3;
and the balance motor data processing module 2-3 is simultaneously connected with the robot attitude data processing module 2-2 and the balance motor data acquisition module 1-3 and is used for obtaining a balance motor parameter adjusting signal according to a balance adjusting command and the current parameter of the balance motor of the robot.
Specifically, the specific workflow of the data processing module 2 is as follows:
the joint displacement data processing module 2-1 analyzes displacement CAN data of each joint (i.e., displacement data of each joint of the robot). For example, the leg is kept in a certain posture and length by adjusting the included angle of the big leg and the small leg through the actual displacement of the big leg and the small leg, the arm is kept in a certain posture and length by adjusting the included angle of the big arm and the small arm through the actual displacement of the big arm and the small arm, and meanwhile, the displacement of each joint according with a desired value is adjusted to enable each joint of the robot to change different postures according to the change of different channel values of the remote controller.
The robot attitude data processing module 2-2 analyzes the CAN data (i.e., attitude data of the robot), and processes the acquired data according to a balance algorithm.
The balancing motor data processing module 2-3 parses the ethernet frame data (i.e., the parameters of the robot balancing motor), processes the parameters of the robot balancing motor according to an algorithm.
The control command processing module 2-4 analyzes the serial bus data (i.e., the control command) and analyzes the remote control command of the remote controller. The control commands issued by the remote controller are processed as follows: a back-and-forth movement instruction, a left-and-right twisting instruction, a squatting instruction, an arm back-and-forth left-and-right movement instruction and the like.
In a word, the displacement and the balance state of each joint of the robot are controlled in real time according to the different data processing modules. And sending a robot operation instruction according to the remote controller, and mutually matching modules such as each robot joint, the motor driver and the like to ensure the normal and stable operation of the robot.
The data processing module 2 processes a large amount of bus data, has high real-time requirements, and also verifies the real-time processing capability of the system.
In the best embodiment, this embodiment is a further description of the implementation mode, the command output module 3 includes a joint displacement command output module 3-1 and a balance motor parameter command output module 3-2;
the joint displacement command output module 3-1 is connected with the joint displacement data processing module 2-1 through a first CAN bus and is used for outputting displacement expected values to joint servo modules of corresponding robot joints so that each robot joint moves according to the direction and the size of the expected values;
and the balance motor parameter command output module 3-2 is connected with the balance motor data processing module 2-3 through an ECAT bus and is used for outputting a balance motor parameter adjusting signal to the balance motor so as to adjust the rotating speed of the balance motor and keep the robot balanced.
Specifically, the workflow of the command output module 3 is as follows:
the joint displacement command output module 3-1 issues displacement expected values to joints such as left and right leg knee joints, left and right leg hip joints, left and right forearm joints and the like through a first CAN bus, and controls each joint of the robot to move towards a desired value direction.
And the balance motor parameter command output module 3-2 can control the balance motor of the robot to rotate in real time through an ECAT bus. The motor driver of each robot balance motor is connected through a network cable, an ECAT bus can be used for mounting 256 motors, and a balance motor parameter adjusting signal is issued through a network cable master station to control the robot balance.
The ECAT bus is based on the Ethernet data and hundred-million bandwidth, and can quickly adjust the rotating speed of the balance motor in time. The rotating speed of the balance motor is controlled in real time to guarantee balance of the robot, and when the robot moves, the balance motor parameter command output module 3-2 increases or decreases the rotating speed of the balance motor according to the change of the center of mass of the robot to guarantee balance of the robot.
In a preferred embodiment, which is a further description of the implementation manner, the data acquisition module 1 further includes a battery parameter acquisition module 1-5;
and the battery parameter acquisition modules 1-5 are connected with the battery through the AD bus and are used for acquiring the battery voltage of the robot.
Specifically, the battery parameter acquisition modules 1-5 acquire the battery voltage of the robot through the AD bus.
Best embodiment, this embodiment is a further description of the implementation, the data processing module 2 further includes a battery parameter processing module 2-5;
and the battery parameter processing module 2-5 is connected with the battery parameter acquisition module 1-5 and is used for filtering the battery voltage.
Specifically, the battery parameter processing module 2-5 removes jitter data of the battery voltage through an average filtering algorithm to obtain the current effective battery voltage of the robot. And monitoring whether the robot operates in a normal voltage range, and if the acquired battery voltage is too low, stopping the robot to move so as to protect the robot to operate in a normal environment.
In a preferred embodiment, this embodiment is a further description of the implementation, and the control command generating module includes a remote control module 4;
the remote control module 4 comprises a remote control signal transmitter 4-1 and a remote control signal receiver 4-2;
the remote control signal transmitter 4-1 is used for transmitting a control command to the remote control signal receiver 4-2;
and the remote control signal receiver 4-2 is connected with the control command acquisition module 1-4 through a serial port bus and is used for receiving the control command and then sending the control command to the data processing module 2 through the serial port bus.
Specifically, the remote control module 4 is configured as a remote controller, and an operator triggers a robot control command through a key on the remote controller.
In the preferred embodiment, this embodiment is a further description of the implementation, and the control command generation module includes a human-computer interaction module 5;
and the human-computer interaction module 5 is connected with the control command acquisition modules 1-4 through a serial port bus and is used for sending out a control command.
Specifically, the human-computer interaction module 5 allows a user to issue a control command of the robot through the human-computer interaction module 5, the common commands include start operation, power unit rotation speed and the like, and the control command can be configured by the user according to different requirements, so that the user can operate the robot conveniently.
And the human-computer interaction module 5 can be directly connected with the control command processing module 2-4 and directly sends the control command to the control command processing module 2-4 without passing through the control command acquisition module 1-4.
Best embodiment, this embodiment is a further description of the implementation, the ECAT bus is in master-slave mode, and includes an ECAT master station and an ECAT slave station;
the ECAT master station, the ECAT slave station and the robot for collecting feedback balance motor parameters or sends balance motor parameter adjusting signals;
and the ECAT slave station is used for mounting the balance motor of the robot.
Specifically, the ECAT bus of this embodiment has a master station and two motor drivers controlling the balanced motor speeds as slave stations.
Best mode, this embodiment is a further description of the implementation mode, and the first CAN bus and the second CAN bus collect data by means of interrupt reception.
Specifically, because a large amount of data passes through the CAN center, in order to ensure the integrity of the data, the two CAN buses adopt interrupt receiving, so that the data is ensured not to be lost.
The system may further comprise a logging module: the user can configure and record the related data, and the related data is stored in a file mode. And after the content of the log file is larger than the size of the configuration file, packaging and compressing the log file. The log module can record 1G or 60 days of data, store the data in a date mode, and replace an old log file in a first-in first-out mode if the data period is more than 60 days.
Claims (10)
1. The robot multi-bus real-time control system is characterized by comprising a data acquisition module (1), a data processing module (2) and a command output module (3);
the data acquisition module (1) is connected with the data processing module (2) and is used for acquiring the operation data of the robot in real time through various buses and sending the operation data to the data processing module (2);
the data processing module (2) is connected with the command output module (3) and is used for processing the running data to generate an execution command and sending the execution command to the command output module (3);
and the command output module (3) is used for sending the execution command to the corresponding execution mechanism through various buses, so that the corresponding execution mechanism can make corresponding action according to the execution command.
2. The robot multi-bus real-time control system according to claim 1, wherein the data acquisition module (1) comprises a joint displacement data acquisition module (1-1), a robot attitude data acquisition module (1-2), a balance motor data acquisition module (1-3) and a control command acquisition module (1-4);
the control command acquisition module (1-4) is connected with the control command generation module through a serial port bus and is used for acquiring control commands;
the joint displacement data acquisition module (1-1) is connected with the robot joint servo module through a first CAN bus and is used for acquiring displacement data of each joint of the robot;
the robot attitude data acquisition module (1-2) is connected with the inertial measurement unit IMU through a second CAN bus and is used for acquiring attitude data of the robot;
the balance motor data acquisition module (1-3) is connected with the robot balance motor through an ECAT bus and is used for acquiring parameters of the robot balance motor;
the operation data of the robot comprises control commands, displacement data of each joint of the robot, attitude data of the robot and parameters of a balance motor of the robot.
3. The robot multi-bus real-time control system according to claim 2, wherein the data processing module (2) comprises a joint displacement data processing module (2-1), a robot attitude data processing module (2-2), a balance motor data processing module (2-3) and a control command processing module (2-4);
the control command processing module (2-4) is connected with the control command acquisition module (1-4) and the joint displacement data processing module (2-1) at the same time, and is used for analyzing the control command and sending the analyzed control command to the joint displacement data processing module (2-1);
the joint displacement data processing module (2-1) is connected with the joint displacement data acquisition module (1-1) and is used for obtaining displacement expected values of all joints of the robot according to the control command and displacement data of all joints of the robot and sending the displacement expected values to the command output module (3);
the robot attitude data processing module (2-2) is connected with the robot attitude data acquisition module (1-2) and is used for obtaining a balance adjustment command according to the attitude data;
the balance motor data processing module (2-3) is connected with the robot attitude data processing module (2-2) and the balance motor data acquisition module (1-3) at the same time, and is used for obtaining a balance motor parameter adjusting signal according to a balance adjusting command and the current parameters of the balance motor of the robot and sending the balance motor parameter adjusting signal to the command output module (3).
4. The robotic multi-bus real-time control system according to claim 3, wherein said command output module (3) comprises a joint displacement command output module (3-1) and a balancing motor parameter command output module (3-2);
the joint displacement command output module (3-1) is connected with the joint displacement data processing module (2-1) through a first CAN bus and is used for outputting displacement expected values to joint servo modules of corresponding robot joints, so that each robot joint moves according to the direction and the size of a desired value;
the balance motor parameter command output module (3-2) is connected with the balance motor data processing module (2-3) through an ECAT bus and used for outputting a balance motor parameter adjusting signal to the balance motor, so that the rotating speed of the balance motor is adjusted, and the robot is kept balanced.
5. A robot multi-bus real-time control system according to claim 2, 3 or 4, characterized in that the data acquisition module (1) further comprises a battery parameter acquisition module (1-5);
the battery parameter acquisition modules (1-5) are connected with the battery through the AD bus and used for acquiring the battery voltage of the robot.
6. The robotic multi-bus real-time control system according to claim 5, wherein the data processing module (2) further comprises a battery parameter processing module (2-5);
and the battery parameter processing module (2-5) is connected with the battery parameter acquisition module (1-5) and is used for filtering the battery voltage.
7. A robot multi-bus real-time control system according to claim 2, 3, 4 or 6, characterized in that the control command generating module comprises a remote control module (4);
the remote control module (4) comprises a remote control signal emitter (4-1) and a remote control signal receiver (4-2);
the remote control signal transmitter (4-1) is used for transmitting a control command to the remote control signal receiver (4-2);
the remote control signal receiver (4-2) is connected with the control command acquisition module (1-4) through a serial port bus and is used for receiving the control command and then sending the control command to the data processing module (2) through the serial port bus.
8. A robot multi-bus real-time control system according to claim 2, 3, 4 or 6, characterized in that the control command generation module comprises a human-machine interaction module (5);
the human-computer interaction module (5) is connected with the control command acquisition modules (1-4) through a serial port bus and is used for sending out control commands.
9. A robotic multi-bus real-time control system as claimed in claim 2 or 4 wherein the ECAT bus is in master slave mode comprising an ECAT master station and an ECAT slave station;
the ECAT master station, the ECAT slave station and the robot for collecting feedback balance motor parameters or sends balance motor parameter adjusting signals;
and the ECAT slave station is used for mounting the balance motor of the robot.
10. A robot multi-bus real-time control system according to claim 2, 3 or 4, characterized in that the first and second CAN bus collect data by means of interrupt reception.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010989085.6A CN112109089B (en) | 2020-09-18 | 2020-09-18 | Multi-bus real-time control system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010989085.6A CN112109089B (en) | 2020-09-18 | 2020-09-18 | Multi-bus real-time control system of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112109089A true CN112109089A (en) | 2020-12-22 |
| CN112109089B CN112109089B (en) | 2022-04-15 |
Family
ID=73800153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010989085.6A Active CN112109089B (en) | 2020-09-18 | 2020-09-18 | Multi-bus real-time control system of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112109089B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0772107A2 (en) * | 1995-10-10 | 1997-05-07 | The Foxboro Company | Distributed control system including a compact easily-extensible and serviceable field controller |
| CN101236421A (en) * | 2007-01-31 | 2008-08-06 | 沈阳新松机器人自动化股份有限公司 | On site bus multi- sensor amalgamation device |
| US20080189459A1 (en) * | 2007-02-06 | 2008-08-07 | Seiko Epson Corporation | Serial communication system |
| KR101909836B1 (en) * | 2017-12-04 | 2018-10-18 | 김정석 | HMI system for industrial process automation control, Process automation monitoring method based on the same |
| CN109324601A (en) * | 2018-11-09 | 2019-02-12 | 上海机器人产业技术研究院有限公司 | The test platform of robot controller or control system based on hardware in loop |
| CN109739124A (en) * | 2018-12-25 | 2019-05-10 | 南京熊猫电子股份有限公司 | Multi-bus interface data handling utility system |
-
2020
- 2020-09-18 CN CN202010989085.6A patent/CN112109089B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0772107A2 (en) * | 1995-10-10 | 1997-05-07 | The Foxboro Company | Distributed control system including a compact easily-extensible and serviceable field controller |
| CN101236421A (en) * | 2007-01-31 | 2008-08-06 | 沈阳新松机器人自动化股份有限公司 | On site bus multi- sensor amalgamation device |
| US20080189459A1 (en) * | 2007-02-06 | 2008-08-07 | Seiko Epson Corporation | Serial communication system |
| KR101909836B1 (en) * | 2017-12-04 | 2018-10-18 | 김정석 | HMI system for industrial process automation control, Process automation monitoring method based on the same |
| CN109324601A (en) * | 2018-11-09 | 2019-02-12 | 上海机器人产业技术研究院有限公司 | The test platform of robot controller or control system based on hardware in loop |
| CN109739124A (en) * | 2018-12-25 | 2019-05-10 | 南京熊猫电子股份有限公司 | Multi-bus interface data handling utility system |
Non-Patent Citations (1)
| Title |
|---|
| 蒋振宇: "基于SLIP模型的四足机器人对角小跑步态控制研究", 《中国博士学位论文全文数据库 信息科技辑》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112109089B (en) | 2022-04-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102862161B (en) | Field bus-based PAC (Programmable Automation Controller) industrial robot control system | |
| US8965574B2 (en) | Method for controlling an automated work cell | |
| CN105364926A (en) | Multi-shaft robot driving and controlling integrated control system | |
| CN107505882A (en) | A kind of multi-axis motion controller and control method | |
| CN104589367B (en) | Modularization robot driver based on EtherCAT and control method | |
| CN105700465A (en) | Robot compliance control system and method based on EtherCAT bus | |
| KR101839772B1 (en) | Method of controlling an automated work cell | |
| SE524627C2 (en) | Wireless controller and method for controlling a device arranged relative to a robot | |
| CN112091978A (en) | Real-time control system for mechanical arm | |
| CN108908851A (en) | The electricity of injection molding machine penetrates platform servo-system and its data interaction process | |
| CN104062935A (en) | Integrated digital control system for double gimbal magnetically-suspended variable-speed control moment gyroscope | |
| WO2008074585A1 (en) | A control system for controlling an industrial robot | |
| CN103085054A (en) | Hot-line repair robot master-slave mode hydraulic pressure feedback mechanical arm control system and method thereof | |
| CN203077287U (en) | Master-slave mode hydraulic pressure feedback mechanical arm controlling system of charged repair robot | |
| CN102179815A (en) | CANopen (Controller Area Network open)-based distributed type modularized mechanical arm system | |
| CN202763839U (en) | Programmable automation controller (PAC) industrial robot control system based on field bus | |
| CN104135214A (en) | Embedded type motor modularization servo controller of flight simulation rotary table | |
| Martinov et al. | Development of motion controller based on ARM microcomputers by supporting different strategies of controlling CAN servo drives | |
| CN112109089B (en) | Multi-bus real-time control system of robot | |
| CN203250190U (en) | Controller of industrial robot | |
| CN206710827U (en) | A kind of modular motion controller | |
| CN103552711B (en) | Multijoint control device, follow round method and wrapping machine | |
| CN204883256U (en) | High real -time control system of robot framework | |
| CN205983218U (en) | AVG control system and vehicle based on drive of CAN bus | |
| CN214818593U (en) | Robot control system |
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 |