CN113204221B - Multi-joint motor driving control and communication system based on optical communication - Google Patents
Multi-joint motor driving control and communication system based on optical communication Download PDFInfo
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- CN113204221B CN113204221B CN202110474500.9A CN202110474500A CN113204221B CN 113204221 B CN113204221 B CN 113204221B CN 202110474500 A CN202110474500 A CN 202110474500A CN 113204221 B CN113204221 B CN 113204221B
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- 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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication
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- 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
- G05B2219/33—Director till display
- G05B2219/33139—Design of industrial communication system with expert system
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention belongs to the field of multi-joint motor driving, controlling and communicating, and discloses a multi-joint motor driving, controlling and communicating system based on optical communication. The system comprises: the driving devices are provided with drivers and detection units, the drivers are connected with the joint motors, and the detection units are arranged on the joint motors; the optical fiber communication network is respectively connected with the plurality of driving devices and the central control; the central control device is used for receiving the electric signals and sending control instructions to the driving device and is provided with an encoding unit for encoding the electric signals; the control instruction is used for enabling the driver to control the joint motor to rotate. The data detected by the detection unit are directly uploaded to the central control device for centralized processing, the capability of the central control device for controlling the plurality of joint motors is increased, extremely high communication bandwidth is obtained between the two devices, communication ports of the central control device are reduced, the complexity of an embedded system in networking during control of the plurality of joint motors is reduced, and the electric interference of control instructions in the machine device is reduced.
Description
Technical Field
The invention belongs to the field of multi-joint motor driving, controlling and communicating, and particularly relates to a multi-joint motor driving, controlling and communicating system based on optical communication.
Background
The motion control system is increasingly complex, the number of nodes of system equipment is more and more, and the nodes are closely matched, so that the motor driving, control and communication system is more and more widely integrated and used, and the following problems are also met: designing and developing a complex embedded system on a networking between a multi-joint driver and a controller; the embedded system causes the difficulty of increasing a power supply module on the multi-joint robot and the difficulty of mechanism design; the embedded system, the composition thereof and the protection device make the rotational inertia of the joint mechanism difficult to measure and design; the synchronous timing requirements of the controller and the control of each joint motor are increased, and the difficulty of a synchronous system is increased; the high-speed motion control algorithm is time delay and asynchronous caused by the design of a complex embedded system, so that the complexity of the control algorithm is increased (for example, a filter is used), and the time delay is further increased; complex electromagnetic interference near the motor greatly influences the encoding and decoding performance and stability of a motor driving board; the consistency of a system is difficult to ensure due to the materials and the manufacturing process of components of the multi-joint driving board; the multi-joint motor drive, control and communication system is difficult to expand.
The chinese patent document with publication number CN207427013U and invention name of a bus type integrated motor based on optical fiber communication in the prior art discloses the following structure: the optical fiber is only used for data receiving and transmitting connection between motor systems, the coder and the decoder in the motor systems adopt independent clocks, the characteristic that robot motion control is easily influenced by asynchronous clocks is not fully considered, adverse effects are brought to the reliable operation of the system, and the more complex and severe synchronization requirements of the motor systems as operation control components in large-system networking cannot be met. Only the communication requirement is involved, but the drive processing part is not involved, the synchronization problem cannot be effectively solved, and key problems of the robot system and the like cannot be overcome.
Disclosure of Invention
In order to solve the above problems, the present invention provides a multi-joint motor control and communication system based on optical communication, which includes: the system comprises a central control device, an optical fiber communication network and a plurality of driving devices; the plurality of driving devices correspond to the plurality of joint motors one by one, and each driving device comprises: the driver is connected with the joint motor, and the detection unit is arranged on a rotor of the joint motor and used for converting physical quantity representing rotation information of the joint motor into an electric signal; the optical fiber communication network is respectively connected with the plurality of driving devices; the central control device is connected with the optical fiber communication network and is used for receiving electric signals sent by the plurality of driving devices through the optical fiber communication network and sending control instructions to the plurality of driving devices through the optical fiber communication network, and the central control device is provided with a coding unit which is used for coding the electric signals; wherein the control instruction is used for enabling the driver to control the joint motor to rotate; the plurality of joint motors are positioned on a machine device, and the plurality of driving devices, the optical fiber communication network and the central control device are all arranged on the machine device.
In the articulated motor control and communication system as described above, optionally, the physical quantity includes: position, speed and torque.
In the multi-joint motor drive control and communication system, optionally, the central control device is further connected to an upper computer, and the upper computer is configured to obtain the control instruction according to the received information from the central control device, and send the control instruction to the central control device.
In the multi-joint motor control and communication system as described above, optionally, the central control device further has: the fusion unit is connected with the coding unit and is used for carrying out code domain transformation on the signal coded by the coding unit; the rear motor processing logic unit is connected with the fusion unit and is used for extracting the characteristics of the signals processed by the fusion unit to obtain characteristic information; and the characteristic information is used for obtaining a control instruction after being processed.
In the multi-joint motor control and communication system as described above, optionally, the central control device further has: and the filtering module is connected with the optical fiber communication network and is also connected with the coding unit.
In the multi-joint motor control and communication system as described above, optionally, the central control device further has: a test module connected with the fiber optic communication network.
In the multi-joint motor control and communication system as described above, optionally, the optical fiber communication network includes: the controller-side optical transceiver is arranged at the central control device and used for coding and modulating control instructions on different time, wavelength and sub-optical fibers of light; the optical distribution and convergence device is arranged on the machine device, is connected with the controller side optical transceiver and is also connected with the embedded side optical transceiver and is used for communicating optical signals to the embedded side optical transceivers at the joint motors; and the embedded side optical transceiver is used for converting a received optical signal into an electric signal so as to enable the driver to drive and control the joint motor.
In the multi-joint motor control and communication system as described above, optionally, the central control device distinguishes the electric signals of the joint motors by using a frequency division, time division or code division manner.
In the multi-joint motor control and communication system as described above, optionally, the optical fiber communication network is a passive optical network.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
the asynchronous influence and the influence of low system reliable operation caused by the fact that an independent clock is adopted by the coding unit at each joint motor in the prior art are avoided, the more complex and severe synchronization requirements of a driving device as an operation control component when a large system is networked can be met, data detected by the detection units of a plurality of driving devices can be directly uploaded to a central control device for centralized processing, and the capability of the central control device for controlling a plurality of joint motors is improved. The central control device and the driving device can obtain extremely high communication bandwidth, complex control instructions can be transmitted to the driving device, communication ports of the central control device are reduced, complexity of an embedded system in networking during multi-joint motor control is reduced, and electric interference of the control instructions in the machine device is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a multi-joint motor control and communication system according to an embodiment of the present invention.
Fig. 2 is a schematic functional block diagram of a central control device according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a driving device according to an embodiment of the present invention.
Fig. 4 is a schematic topology diagram of an optical fiber communication network according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of an articulated motor control and communication system applied to an multi-legged robot according to an embodiment of the present invention.
The symbols in the figures are as follows:
1-driving device, 11-detecting unit, 12-optical transceiving and optical decoding unit, 13-circuit board, 14-circuit board protecting device, 15-driver, 2-optical fiber communication network, 21-optical filtering module, 22-controller side optical multiplexer, 23-trunk optical multiplexer, 24-limb optical multiplexer, 25-optical interface motor, 3-central control device, 31-coding unit, 32-fusion unit, 33-rear motor processing logic unit, 34-PC interface, 35-front motor processing logic unit, 36-electro-optical conversion module, 4 upper computer, 5 quadruped robot body abdominal cavity, 6 quadruped robot foot body, 7 joint motor and 8-foot optical multiplexer.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are for convenience of description of the present invention only and do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the specific meaning of the above terms can be understood by those of ordinary skill in the art as appropriate.
Referring to fig. 1 to 5, an embodiment of the present invention provides a multi-joint motor control and communication system based on optical communication, which is applied to a machine device capable of automatically executing actions, the machine device has a plurality of joints, and a joint motor 7 is disposed at the joints. The machine means may be: the robot comprises a multi-foot robot, an industrial robot, a multi-cooperation mechanical arm, an exoskeleton robot, a combat robot and the like, wherein each machine device is provided with a plurality of joint motors 7 for completing normal work. This many joints motor drive accuse and communication system includes: a central control device 3, a fiber optic communication network 2 and a drive device 1.
The number of the driving devices 1 is multiple, and the multiple driving devices 1 correspond to the multiple joint motors 7 one by one, that is, one driving device 1 is configured for each joint motor 7. The driving device 1 is used for driving the joint motor 7 to rotate so as to enable the machine device to complete corresponding actions, and comprises: a detection unit 11 and a driver 15. The detection unit 11 is disposed on a rotor of the joint motor 7, and is configured to convert a detected physical quantity representing rotation information of the joint motor 7 into an electrical signal (or referred to as a sensing signal), where the physical quantity includes: the rotating speed and the position can also comprise: and (4) torque. The driver 15 is connected with the joint motor 7 and used for driving the joint motor 7 to rotate according to the received control command. The optical fiber communication network 2 is disposed on the machine device, and is connected to the central control device 3 and the plurality of driving devices 1, respectively, for implementing information interaction between the central control device 3 and the plurality of driving devices 1, that is, the plurality of driving devices 1 receive the control command from the central control device 3 through the optical fiber communication network 2 or send the electric signal to the central control device 3, and the central control device 3 receives the electric signal from the plurality of driving devices 1 through the optical fiber communication network 2 or send the control command to the plurality of driving devices 1, that is, the optical fiber communication network 2 is only used for data transceiving connection. The central control device 3 is disposed on the machine device, and is configured to obtain a control instruction, where the control instruction may be obtained by processing the received electrical signal from the central control device 2 by the upper computer 4, and then sending the control instruction to the central control device 2 through the upper computer 4. The upper computer 4 is separated from the machine device, namely the upper computer 4 is not arranged on the machine device. The central control device 3 has an encoding unit 31, and the encoding unit 31 is used for encoding the electrical signal. The central control device 3 is generally installed in a place where the machine device has a small rotation amplitude and a concentrated mass, for example: the abdomen of the quadruped robot, the back of the exoskeleton robot and the bottom of the cooperative robot. The central control device 3 may be an FPGA (field programmable logic device) or a CFPGA (central field programmable device). Referring to fig. 5, the layout of the system will be described by taking a four-legged robot as an example, in which a central control device 3 is provided in a body abdominal cavity 5 of the four-legged robot, a joint motor 7 is provided in a foot body 6 of the four-legged robot, and a foot optical multiplexer 8 of an optical fiber communication network 2 is provided in the body abdominal cavity 5 of the four-legged robot.
The central control device 3 is provided with the coding unit 31, the driving device 1 is provided with the detection unit 11, the central control device 3 and the driving device 1 are connected through the optical fiber communication network 2, the coding unit 31+ the detection unit 11 (which are combined into a coder) which are originally arranged at each joint motor 7 are separated, namely, the detection unit 11 is still at the joint motor 7, the coding unit 31 is separated from the joint motor 7 and is connected with the detection unit 11 through the optical fiber communication network 2, in other words, the driving device 1 sends a sensing signal to the central control device 3, and the central control device 3 sends a control signal (or called a control command) to the driving device 1. Because the function of the encoding unit 31 is to encode the output of the detection unit 11, the function of the encoding unit 31 is multiplexed, that is, the encoding unit 31 is not located at the joint motor 7 and is multiplexed onto the central control device 3, the output of the detection units 11 of a plurality of driving devices 1 is processed in the same encoding unit 31 (that is, the encoding unit of the central control device), the asynchronous influence caused by the adoption of independent clocks of the encoding units at the joint motors 7 and the influence of low system reliable operation in the prior art are avoided, the more complex and severe synchronization requirements of the driving devices 1 as operation control components in large-scale system networking can be met, the data (or motor sensing parameters) detected by the detection units 11 of a plurality of driving devices 1 can be directly uploaded to the central control device 3 for centralized processing, and the capability of the central control device 3 (or a single controller) for controlling a plurality of joint motors 7 is increased, the consistency of the drive and control of the multi-joint motor is improved, and the processing time delay can be reduced by processing the sensing signal of the joint motor 7 in the central control device 3. The central control device 3 and the driving device 1 can obtain extremely high communication bandwidth, complex control instructions can be transmitted to the driving device 1, communication ports of the central control device 3 are reduced, complexity of an embedded system in networking when a plurality of joint motors 7 are controlled is reduced, and electric interference of the control instructions in a machine device is reduced.
Only the necessary motor drive circuit (driver + detection unit) is included at the joint motor 7, and no encoding circuit (i.e., encoding unit) is included, i.e., no encoding is performed at the joint motor 7. The control command directly acts on the driver 15 through the optical fiber communication network 2, so that an airborne Micro Controller Unit (MCU) configured at the joint motor 7 in the prior art can be omitted, that is, the joint motor 7 does not include a complex processing circuit (or called an airborne MCU), and adjustment and design of the rotational inertia are facilitated. The complex processing performed by the onboard MCU includes: the electric signal is deframed and decoded, the decoded data is processed, and the processed electric signal is sent to the driver 15 to drive the rotor of the optical-mechanical motor 7 to rotate. The multi-shutdown motor driving and controlling and communication system has high requirements on communication bandwidth and time delay, a bandwidth bottleneck and processing time delay can be generated by adopting the traditional embedded equipment, if the embedded equipment is more complicated and the cost is increased by overcoming the factors on the basis of the embedded equipment, the driving device 1 is directly connected with the central control device 3 by using the optical fiber communication network 2, the design and integration of the middle embedded equipment are eliminated, the cost is reduced, and the need of designing the complicated embedded equipment is avoided. The optical transceiving and decoding unit 12 is configured to receive an optical signal from the optical fiber communication network 2, decode the optical signal, convert the decoded optical signal into an electrical signal, and transmit the electrical signal to the driver 15. In practical application, the driving device includes a circuit board 13 and a circuit board protection device 14, and the circuit board 13 is provided with an optical transceiving and optical decoding unit 12, a driver 15 and a detection unit 11.
The central control apparatus 3 further has: a fusion unit 32 and a post-motor processing logic unit 33. The fusion unit 32 is connected to the encoding unit 31 and is configured to perform code-domain transformation on the signal encoded by the encoding unit 31. The post-motor processing logic unit 33 is connected to the fusion unit 32, and is configured to perform feature extraction on the signal processed by the fusion unit 32 to obtain feature information. The upper computer 4 receives the characteristic information sent by the rear motor processing logic unit 33 through the PC interface 34, processes the characteristic information to obtain a control instruction, then sends the control instruction to the front motor processing logic unit 35 through the PC interface 34, and sends the control instruction to the driving device 1 through the optical fiber communication network 2 after the control instruction is processed by the front motor processing logic unit 35 (i.e., the control instruction sent to the joint motor is recovered). For example: a cooperative robot has 12 joint motors 7, and rotation information of the joint motors 7 includes: A. b and C, A represents motor position information, B represents motor speed information, C represents motor moment information, the drive arrangement 1 that sets up in every joint motor 7 department can send the rotation information, send with ABC's form, central control unit receives behind 12 joint motor 7 information, store with the form of ABCACACACACACACACACACACACACACACACACACACACACABCCABCCABCCABC, then carry out code domain transform to this information, obtain AAAAAABBBBBBBBBBBBBBBBBBBBBBBBBBBBCCCCCC, then carry out feature extraction to this information, obtain key information, under a certain scene, key information is AAAAAAAAAAAABBBBBBBBBBBBBBBBCCCC. In order to reduce noise and filter interference, the central control device further comprises: and the filtering module is connected with the optical fiber communication network 2 and the coding unit 31, namely, after the sensing signal from the driving device 1 passes through the optical fiber communication network 2, the sensing signal is firstly processed by the filtering module of the central control device 3, and the processed signal is transmitted to the coding unit 31. In order to further reduce the circuits at the position of the shutdown motor 7 and realize circuit multiplexing, the central control device 3 further comprises: and the test module is connected with the optical fiber communication network 2. The test module 2 has a function of testing the performance of the joint motor 7 in a debugging stage and a function of self-checking a circuit formed by the system after the joint motor 7 is powered on and before the joint motor is used.
The optical fiber communication network 2 is used for optical layer operations such as light gathering, light distribution and light filtering, and comprises: a controller-side optical transceiver 22, an optical distribution and convergence device, and an embedded-side optical transceiver. The controller-side optical transceiver 22 is disposed at the central control device 3, connected to the central control device 3, and configured to encode and modulate control commands on different times, wavelengths, and sub-fibers of light. The optical distribution and convergence device is disposed on the machine device, connected to the controller-side optical transceiver 22, and configured to communicate optical signals to the embedded-side optical transceivers at the joint motors 7 through an optical splitter (or optical multiplexer) in the machine device. The embedded side optical transceiver is arranged at the joint motor 7, is connected with the optical splitting and converging device, and is used for converting received optical signals into electric signals so as to drive the driver 15 to control the joint motor 7. The central control device 3 distinguishes the electric signals of the joint motors by using a frequency division, time division or code division mode. The optical fiber communication network 2 is a passive optical network, which does not contain any electronic devices and electronic power sources, so as to reduce the demand on the power sources, reduce the power consumption, reduce the complexity and cost of the power circuit, and improve the cruising ability of the mobile machine device. When the driving device is connected with the central control device, the embedded equipment and the supporting circuit thereof are reduced, and optical signal transmission is switched to be used, so that the electromagnetic interference is reduced. The fiber optic communication network 2 increases the reliability of the synchronized clock by using the same synchronized light source and reducing the use of intermediate embedded devices. In fig. 4, a signal received by the controller-side optical transceiver 22 is transmitted to the optical filter module 21, processed and transmitted to the controller-side optical multiplexer 22, then transmitted to the trunk optical multiplexer 23, then transmitted to the limb optical multiplexer 24, then transmitted to the joint motor 7, and transmitted to the joint motor 7 through the embedded-type side optical transceiver. The optical fiber communication network 2 converts the electrical signal into an optical signal through the electrical-to-optical conversion module 36 and receives the optical signal, and the central control apparatus 3 converts the optical signal into an electrical signal through the electrical-to-optical conversion module 36 and receives the electrical signal.
In summary, by redesigning the driving and controlling and communication system of the joint motor 7, a large number of motor circuit systems are multiplexed in a centralized manner, the use of the intermediate communication circuit and the embedded equipment on the joint motor circuit is reduced, and the inconsistency of joint motor driving, the high complexity of motion control of the joint motor 7 and a machine device and the low effectiveness of joint motor driving and controlling communication can be effectively solved; greatly reduces the design, control and integration difficulty of the multi-joint robot, particularly the high-speed motion multi-joint robot, and reduces the manufacturing cost. The expansibility of the driving, controlling and communicating of the multi-joint motor is increased, the reliability of a motion control algorithm is increased, and the design and the complexity of the whole system of the robot are reduced. The system has complete functions, simple modules, clear layers, convenient use, high expansibility and high applicability, and integrates the dispersed and redundant functions at the central control device 3.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.
Claims (9)
1. A multi-joint motor driving control and communication system based on optical communication is characterized in that the multi-joint motor driving control and communication system comprises: the system comprises a central control device, an optical fiber communication network and a plurality of driving devices;
the plurality of driving devices correspond to the plurality of joint motors one by one, and each driving device comprises: the driver is connected with the joint motor, and the detection unit is arranged on a rotor of the joint motor and used for converting physical quantity representing rotation information of the joint motor into an electric signal;
the optical fiber communication network is respectively connected with the plurality of driving devices;
the central control device is connected with the optical fiber communication network and is used for receiving electric signals sent by the plurality of driving devices through the optical fiber communication network and sending control instructions to the plurality of driving devices through the optical fiber communication network, and the central control device is provided with a coding unit which is used for coding the electric signals;
wherein the control instruction is used for enabling the driver to control the joint motor to rotate, and the joint motor does not contain the coding unit;
The plurality of joint motors are positioned on a machine device, and the plurality of driving devices, the optical fiber communication network and the central control device are all arranged on the machine device.
2. The articulated motor control and communication system of claim 1, wherein the physical quantities comprise: position, speed and torque.
3. The articulated motor drive control and communication system of claim 1, wherein the central control device is further connected to an upper computer, and the upper computer is configured to obtain the control command according to the received information from the central control device and send the control command to the central control device.
4. The articulated motor drive and communication system of claim 1, wherein the central control unit further comprises:
the fusion unit is connected with the coding unit and is used for carrying out code domain transformation on the signal coded by the coding unit;
the rear motor processing logic unit is connected with the fusion unit and is used for extracting the characteristics of the signals processed by the fusion unit to obtain characteristic information;
and the characteristic information is used for obtaining a control instruction after being processed.
5. The articulated motor drive and communication system of claim 4, wherein the central control unit further comprises:
and the filtering module is connected with the optical fiber communication network and is also connected with the coding unit.
6. The articulated motor drive and communication system of claim 4, wherein the central control unit further comprises:
a test module connected with the fiber optic communication network.
7. The articulated motor control and communication system of claim 1, wherein the fiber optic communication network comprises: the system comprises a controller side optical transceiver, an optical distribution and convergence device and an embedded side optical transceiver;
the controller side optical transceiver is arranged at the central control device and used for coding and modulating control instructions on different time, wavelength and sub-optical fibers of light;
the optical distribution and convergence device is arranged on the machine device, is connected with the controller side optical transceiver and is also connected with the embedded side optical transceiver and is used for communicating optical signals to the embedded side optical transceivers at the joint motors;
the embedded side optical transceiver is used for converting a received optical signal into an electric signal so as to enable the driver to drive and control the joint motor.
8. The articulated motor control and communication system of claim 1, wherein the central control unit distinguishes the electrical signals of the articulated motors using a frequency, time, or code division approach.
9. The articulated motor control and communication system of claim 1, wherein the fiber optic communication network is a passive optical network.
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| JP2006285886A (en) * | 2005-04-05 | 2006-10-19 | Yaskawa Electric Corp | Control method of distributed motion control system |
| CN102053614A (en) * | 2011-01-10 | 2011-05-11 | 哈尔滨工程大学 | Multi-way signal conversion and transmission device and method based on controller area network (CAN) bus line |
| CA2897772A1 (en) * | 2014-07-25 | 2016-01-25 | Dejero Labs Inc. | Multipath data streaming over multiple wireless networks |
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