CN114147721A - Robot control system and method based on EtherCAT bus - Google Patents
Robot control system and method based on EtherCAT bus Download PDFInfo
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- CN114147721A CN114147721A CN202111534975.9A CN202111534975A CN114147721A CN 114147721 A CN114147721 A CN 114147721A CN 202111534975 A CN202111534975 A CN 202111534975A CN 114147721 A CN114147721 A CN 114147721A
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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Abstract
The system adopts a hardware EtherCAT master station scheme, so that the real-time performance and the stability of a communication bus are ensured, hardware timing is arranged in a robot control unit, the strong real-time performance and the quick response capability of a robot control task are ensured, an image processing unit and a general processing unit are used for completing a higher-level decision task, and the strong calculation force ensures the running speed of an algorithm; the control method adopts three functional layers for control, tasks of a decision layer comprise tasks of robot track planning, man-machine interaction, data exchange, scene understanding and the like, the control layer is used for completing tasks of kinematics calculation, interpolation calculation and the like of the robot, and the communication layer is used for EtherCAT bus data transceiving tasks. The control method divides tasks into real-time tasks and non-real-time tasks, and places the tasks in different unit modules, thereby ensuring the real-time performance, stability, compatibility and expansibility of the system.
Description
Technical Field
The invention belongs to the technical field of robot control, and relates to a robot control system and method based on an EtherCAT bus.
Background
With the application of industrial robots in the fields of welding, assembly, man-machine cooperation and the like, higher requirements are put forward on track precision, interaction capacity, stability and the like. In order to meet the requirements, various sensors such as vision and force sense are added into the industrial robot, and a high-performance control algorithm is combined to complete more complex tasks. The high-performance robot control algorithm needs a control system with stronger performance to bear, so that a set of robot control system with strong computing capability, good stability, high response speed, strong real-time performance and high data bandwidth needs to be developed to realize stable control of the robot.
In order to meet the above requirements, an EtherCAT bus is often used as a communication bus in an industrial robot control system. EtherCAT, also known as ethernet Automation Technology, in which CAT is Control Automation Technology, translated into Control Automation Technology, was originally developed and designed by Beckhoff Automation GmbH, doufu, germany. The EtherCAT bus is a real-time Ethernet technology, supports various topological structures, has the advantages of good stability, strong real-time performance, high response speed, high data bandwidth and the like, and is widely applied to the field of industrial robot control.
At present, a robot control system based on an EtherCAT bus generally uses a controller of an ARM or x86 and other general CPUs, a real-time modified Linux system is operated on the basis of the controller, an EtherCAT master station is deployed on the Linux system to realize data exchange with a robot body, and a robot control algorithm is compiled on Linux to realize control of a robot. The method has the defects that the real-time modified Linux system is a soft real-time scheme, and compared with a hard real-time scheme, the real-time performance is poorer, and the requirement of high-speed response of the robot cannot be met; meanwhile, the method adopts a general CPU architecture, and cannot meet large-scale operation tasks such as obstacle avoidance, grabbing and the like which need to be participated by the vision sensor; in addition, the control system places the decision task at the upper layer, the control task at the middle layer and the communication task at the lower layer in the robot control task in the same system, which cannot effectively ensure the stability of the operation of the robot.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a robot control system and a method based on an EtherCAT bus, the system is provided with a single image processing unit, a general processing unit, a robot control unit and an EtherCAT master station communication unit of a hard real-time scheme, a decision layer, a control layer and a communication layer in the robot control system are separated through hardware, the response performance and stability of robot control are improved, and meanwhile, the system can also cope with a large-scale calculation task participated by a visual sensor.
The invention provides a robot control system based on an EtherCAT bus, which is used for controlling servo motors of all joints of a robot body and comprises: the system comprises a vision sensor, an EtherCAT main station communication unit, a robot control unit, a general processing unit and an image processing unit;
the EtherCAT master station communication unit exchanges data with the robot body, receives robot state data and sequentially uploads the robot state data to the robot control unit and the general processing unit;
the image processing unit is used for processing image data acquired by the vision sensor, processing the image data by using a deep learning algorithm and acquiring target position information and obstacle position information;
the general processing unit receives the robot state data, combines the target position information and the obstacle position information, and calculates the robot end joint movement track data through obstacle avoidance and planning algorithms;
the robot control unit is used for performing kinematics calculation and joint motion track interpolation processing on the motion track data of the tail end joints of the robot, calculating the motion track of each joint of the robot, and issuing a corresponding control instruction to the EtherCAT master station communication unit to control the robot.
In the robot control system based on the EtherCAT bus, the EtherCAT master station communication unit adopts an EtherCAT master station communication chip, and a hardware timer in the chip provides a timing basis; the EtherCAT master station communication chip uses an RJ45 interface to exchange data with the robot body through the interface conversion circuit, and exchanges data with the robot control unit through SPI communication, and a CIA402 protocol is adopted in the EtherCAT master station communication chip to realize servo control of the robot.
In the robot control system based on the EtherCAT bus, the robot control unit adopts an ARM Cortex-R5 microcontroller with the main frequency of 200MHz, and a hardware timer in the microcontroller provides a timing basis.
In the robot control system based on the EtherCAT bus, the motion trail data of the tail end joints of the robot received by the robot control unit are discrete arrays at equal intervals, the interval is 100ms, the motion trail of each joint is calculated through a robot inverse kinematics algorithm in the robot control unit, meanwhile, the data with the period of 100ms is interpolated into the data with the period of 1ms through an interpolation algorithm, and the data are transmitted to the EtherCAT master station communication unit and transmitted to the robot body, so that the control of the robot is completed.
In the robot control system based on the EtherCAT bus, the visual sensor comprises a color camera and a depth camera, and the universal processing unit reads image data acquired by the visual sensor through a USB interface; the general processing unit is also provided with a human-computer interaction interface.
In the EtherCAT bus-based robot control system according to the present invention, the robot status data includes: the current position, the current speed, the current acceleration and the current joint moment of a servo motor returned by each joint server of the robot;
the robot tip joint movement trajectory data includes: motion trajectory position, velocity and acceleration;
the control instructions include: target position, target speed, and target acceleration of a servo motor of each joint of the robot.
The invention also provides a robot control method based on the EtherCAT bus, which is characterized in that the control method adopts three functional layers for control, and comprises the following steps: a communication layer, a control layer and a decision layer;
the communication layer is used for processing an EtherCAT bus communication task, is a real-time task, has a communication period of 1ms, exchanges data with the robot body through the EtherCAT bus, uploads the data to the control layer, and is realized by an EtherCAT master station communication unit;
the control layer is used for processing a control task of the robot, the control task is a real-time task, the control period is 1ms, the task comprises robot kinematics resolving and joint track interpolation, the motion track of the tail end of the robot from the decision layer is received, and data are issued to the communication layer after the kinematics resolving and the interpolation, so that the control of the robot is realized, and the control is realized by the robot control unit;
the decision layer is used for a high-level strategy task in the robot control system, the high-level strategy task is a non-real-time task, the period is generally set to be 100ms, the high-level strategy task mainly comprises a target detection task, an obstacle identification task, a track planning task and a man-machine interaction task, and the high-level strategy task is realized by a general processing unit and an image processing unit; the control method comprises the following steps:
(1) the EtherCAT master station communication unit receives the robot state data and sequentially uploads the robot state data to the robot control unit and the general processing unit;
(2) the general processing unit receives image data acquired by the vision sensor, and transmits the image data to the image processing unit after preprocessing;
(3) the image processing unit processes the preprocessed image data by using a deep learning algorithm to acquire target position information and barrier position information;
(4) the general processing unit receives the state data of the robot, combines the target position information and the obstacle position information, and calculates the motion trail data of the tail end joint of the robot through obstacle avoidance and planning algorithms;
(5) the robot control unit performs kinematics calculation and joint motion track interpolation processing on the motion track data of the tail end joint of the robot, calculates the motion track of each joint of the robot, and issues a corresponding control command to the EtherCAT master station communication unit;
(6) and the EtherCAT master station communication unit realizes servo control on the robot according to the CIA402 protocol.
The robot control system and method based on the EtherCAT bus have the following beneficial effects:
1. the control system adopts an EtherCAT master station chip as a master station of an EtherCAT bus, ensures the performance of EtherCAT communication by a hard real-time scheme, and has stronger real-time performance, higher communication response speed and stronger stability;
2. the control method adopts an upper functional layer, a middle functional layer and a lower functional layer for control, and respectively corresponds to three tasks of decision, control and communication, so that various control tasks of the robot are divided into a real-time task and a real-time task, and the tasks are distributed to different hardware units and software levels to be separately operated, thereby ensuring the real-time performance of the system and simultaneously improving the stability and compatibility of the control system;
3. the control system is provided with the independent image processing unit, so that tasks with large computation amount, such as target detection, semantic segmentation, obstacle identification and the like, can be executed, the computing capability of the control system is enhanced, a scene understanding algorithm based on deep learning can be fused, and the robot is more intelligent.
Drawings
Fig. 1 is a schematic structural diagram of a robot control system based on an EtherCAT bus according to the present invention;
fig. 2 is a flow of EtherCAT network initialization and central station configuration.
Detailed Description
As shown in fig. 1, the robot control system based on the EtherCAT bus of the present invention is used for controlling the servo motors of the joints of the robot body. The method comprises the following steps: the vision sensor, EtherCAT main website communication unit, robot control unit, general processing unit and image processing unit.
And the EtherCAT master station communication unit exchanges data with the robot body, receives robot state data and sequentially uploads the data to the robot control unit and the general processing unit. The image processing unit is used for processing image data acquired by the vision sensor, processing the image data by using a deep learning algorithm and acquiring target position information and obstacle position information. And the general processing unit receives the state data of the robot, combines the target position information and the obstacle position information, and calculates the motion trail data of the tail end joint of the robot through obstacle avoidance and planning algorithms. The robot control unit is used for performing kinematics calculation and joint motion track interpolation processing on the motion track data of the tail end joints of the robot, calculating the motion track of each joint of the robot, and issuing a corresponding control instruction to the EtherCAT master station communication unit to control the robot.
The technical scheme of the invention has the following general idea: the EtherCAT master station communication unit is responsible for the communication task, carries out data exchange through the EtherCAT bus with the robot body of lower floor, is connected with the robot control unit of upper strata through SPI communication, transmits robot status data and control command. The robot control unit is responsible for controlling tasks, receives robot state data transmitted by the communication unit and uploads the robot state data to the upper-layer general processing unit, receives robot tail end joint motion track data transmitted by the upper-layer general processing unit, calculates interpolation tracks through interpolation algorithms, analyzes control instructions of all joints of the robot through a robot inverse kinematics algorithm, and finally transmits the control instructions to the EtherCAT master station communication unit and finally transmits the control instructions to the robot body. The general processing unit and the image processing unit are responsible for decision tasks in the robot control system, the image processing unit processes image data returned by the color camera or the depth camera, scene understanding tasks of the robot are achieved, tasks such as target detection and obstacle recognition are completed, and recognized target positions are transmitted to the general processing unit. The general processing unit plans the movement track of the robot through obstacle avoidance, a planning algorithm and the like, and issues the movement track to the robot control unit to complete the control of the robot.
The system framework of the present invention is shown in fig. 1, and the functions of the respective units will be described in detail below.
The EtherCAT master station communication unit uses an ECM-XF type EtherCAT master station chip of Taiwan science and technology corporation, the type chip is an economic and efficient EtherCAT master station chip and is connected with an upper-layer controller through an SPI interface so as to realize EtherCAT communication. The minimum communication period of the EtherCAT master station chip is 125us, and 128 EtherCAT slave stations are supported to the maximum extent. The SPI communication used by the master station chip supports a full-duplex slave station mode, and the clock frequency is 96 MHz. Compared with other EtherCAT master station schemes, the EtherCAT master station is simple to construct by using the master station chip, the EtherCAT function library is written in the chip, the hardware-level real-time performance is realized through an internal hardware timer, and the real-time performance and the stability of the EtherCAT bus are ensured. The EtherCAT main station internally supports a CiA402 protocol which is a servo motor motion control protocol. The flow of the EtherCAT network initialization and the master station configuration inside the EtherCAT master station communication unit is shown in fig. 2: firstly, initializing an EtherCAT network, and switching the state of the EtherCAT network to a Pre-OP mode; then configuring PDO parameters and slave station parameters; then enabling built-in CiA402 protocol control; then switching the EtherCAT network state to an SAFE-OP mode, configuring PDO in a front-end mode, and then switching the EtherCAT network state to the OP mode; and finally, a CiA402 control loop is entered, including fault response and error code clearing, 402 state control, 402 state reading and the like.
The EtherCAT master station communication unit exchanges data with the robot body through an EtherCAT bus to realize control over the robot, and the exchanged data comprise received and sent information. The received information comprises robot state information such as the current position, the current speed, the current acceleration, the current joint moment and the like of a servo motor returned by each joint server of the robot. The transmitted information is robot joint control information such as a target position, a target velocity, a target acceleration, and the like of the servo motor. Meanwhile, the EtherCAT master station communication unit uploads the received robot state information to the robot control unit through SPI communication, and meanwhile receives a robot control instruction sent by the robot control unit.
And the robot control unit further uploads the received robot state data to the upper general processing unit and receives robot tail end joint motion track data from the general processing unit robot. The received motion track data are discrete arrays with equal intervals of 100ms, and each array comprises position, speed and acceleration data of the robot motion track. The motion data track transmitted by the upper layer general processing unit is the motion track of the tail end joint of the robot, the motion track of each joint needs to be calculated through an inverse kinematics algorithm of the robot in the robot control unit, meanwhile, the data with the period of 100ms is interpolated into the data with the period of 1ms through an interpolation algorithm, and is transmitted to the EtherCAT master station communication unit and is transmitted to the robot body, and the control of the robot is completed. The unit is an ARM Cortex-R5 microcontroller, the microcontroller is an ARM V7-R ISA framework, a Thumb-2 instruction set is used, DSP extension is carried out, the unit is provided with a single-precision floating point arithmetic unit, the operating frequency is 200MHz, the performance completely meets the arithmetic requirements of the algorithms, and meanwhile the real-time performance, the stability and the compatibility of a control system are guaranteed.
The general processing unit on the upper layer is used for realizing the functions of data exchange, task scheduling, trajectory planning, man-machine interaction and the like. In the unit, a Linux system is operated, and tasks such as robot motion planning, human-computer interaction and the like are realized through an ROS robot operating system or a self-written robot operating frame. The unit receives robot state data from a lower layer, and simultaneously plans a robot running track by combining an obstacle core transmitted from the image processing unit and a target position instruction given by a human, bypasses the obstacle, reaches a target position, and completes tasks such as grabbing, carrying and man-machine coordination. The unit is an 8-core ARM v 8.264 bit Carmel CPU and a 16GB memory, balances contradictions between performance and power consumption, and can ensure that the resolving period of a robot planning algorithm is 100ms and is a non-real-time task.
The image processing unit is used for a scene understanding task of the robot and processing image data transmitted back by visual sensors such as a color camera and a depth camera, the visual sensors are used for sensing the environment where the robot is located, and the general processing unit reads data collected by the visual sensors through the USB interface and transmits the data to the image processing unit after data preprocessing. The color and illumination information provided to the control system environment by the color camera and the geometric distance information provided to the environment in which the control system is located by the depth camera. The robot is assisted in scene understanding of the environment by using algorithms such as multi-modal feature extraction, target detection, semantic segmentation and pose estimation based on deep learning, information such as the position of an object to be grabbed and the position of an obstacle is acquired, the information is transmitted to a general processing unit, and an environment basis is provided for a trajectory planning algorithm. The unit is a NVIDIA CUDA processor with a 512-core Volta architecture, the processor has the computing capability of 11TFLOPS (FP16) or 22TOPS (INT8), the computing speed of a deep learning algorithm can be guaranteed, the computing cycle of the unit is guaranteed to be 100ms, and the unit is a non-real-time task.
The robot control unit, the general processing unit and the image processing unit in the control system are realized by using an Nvidia Jetson AGX Xavier edge calculation device.
The invention also provides a robot control method based on the EtherCAT bus, which adopts three functional layers for control and comprises the following steps: a communication layer, a control layer and a decision layer;
the communication layer is used for processing an EtherCAT bus communication task, is a real-time task, has a communication period of 1ms, exchanges data with the robot body through the EtherCAT bus, uploads the data to the control layer, is realized by the EtherCAT master station communication unit, and ensures real-time performance by a hardware timer in the EtherCAT master station chip;
the control layer is used for processing a control task of the robot, the control task is a real-time task, the control period is 1ms, the task comprises robot kinematics calculation and joint track interpolation, the motion track of the tail end of the robot from the decision layer is received, data are issued to the communication layer after the kinematics calculation and the interpolation, the control of the robot is realized, the control is realized by a robot control unit, specifically, an ARM Cortex-R5 microcontroller is adopted, and a hardware timer in the microcontroller provides a timing basis;
the decision layer is used for a high-level strategy task in a robot control system, the high-level strategy task is a non-real-time task, the period is generally set to be 100ms, the high-level strategy task mainly comprises target detection, obstacle identification, track planning and human-computer interaction tasks, and the high-level strategy task is realized by a general processing unit and an image processing unit. The specific control method comprises the following steps:
(1) the EtherCAT master station communication unit receives the robot state data and sequentially uploads the robot state data to the robot control unit and the general processing unit;
(2) the general processing unit receives image data acquired by the vision sensor, and transmits the image data to the image processing unit after preprocessing;
(3) the image processing unit processes the preprocessed image data by using a deep learning algorithm to acquire target position information and barrier position information;
(4) the general processing unit receives the state data of the robot, combines the target position information and the obstacle position information, and calculates the motion trail data of the tail end joint of the robot through obstacle avoidance and planning algorithms;
(5) the robot control unit performs kinematics calculation and joint motion track interpolation processing on the motion track data of the tail end joint of the robot, calculates the motion track of each joint of the robot, and issues a corresponding control command to the EtherCAT master station communication unit;
(6) and the EtherCAT master station communication unit realizes servo control on the robot according to the CIA402 protocol.
The control method of the invention divides the tasks into real-time tasks and non-real-time tasks, and puts the two tasks in different unit modules, thereby ensuring the real-time performance and stability of the system and simultaneously ensuring the compatibility and expansibility of the system. In addition, with the addition of the image processing unit, the computing capability of the control system is enhanced, and a scene understanding algorithm based on deep learning can be fused, so that the robot is more intelligent.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the scope of the present invention, which is defined by the appended claims.
Claims (7)
1. A robot control system based on an EtherCAT bus is used for controlling servo motors of all joints of a robot body, and is characterized by comprising: the system comprises a vision sensor, an EtherCAT main station communication unit, a robot control unit, a general processing unit and an image processing unit;
the EtherCAT master station communication unit exchanges data with the robot body, receives robot state data and sequentially uploads the robot state data to the robot control unit and the general processing unit;
the image processing unit is used for processing image data acquired by the vision sensor, processing the image data by using a deep learning algorithm and acquiring target position information and obstacle position information;
the general processing unit receives the robot state data, combines the target position information and the obstacle position information, and calculates the robot end joint movement track data through obstacle avoidance and planning algorithms;
the robot control unit is used for performing kinematics calculation and joint motion track interpolation processing on the motion track data of the tail end joints of the robot, calculating the motion track of each joint of the robot, and issuing a corresponding control instruction to the EtherCAT master station communication unit to control the robot.
2. The EtherCAT bus-based robot control system according to claim 1, wherein the EtherCAT master station communication unit employs an EtherCAT master station communication chip, and a hardware timer inside the chip provides a timing basis; the EtherCAT master station communication chip uses an RJ45 interface to exchange data with the robot body through the interface conversion circuit, and exchanges data with the robot control unit through SPI communication, and a CIA402 protocol is adopted in the EtherCAT master station communication chip to realize servo control of the robot.
3. The EtherCAT bus based robot control system of claim 1, wherein the robot control unit employs an ARM Cortex-R5 microcontroller with a master frequency of 200MHz, and timing is provided by a hardware timer inside the microcontroller.
4. The EtherCAT bus-based robot control system according to claim 1, wherein the robot control unit receives robot end joint motion trajectory data in discrete arrays at equal intervals, the interval is 100ms, the motion trajectory of each joint is calculated by a robot inverse kinematics algorithm in the robot control unit, meanwhile, the data with the period of 100ms is interpolated into data with the period of 1ms by an interpolation algorithm, and the data is transmitted to the EtherCAT bus master station communication unit and transmitted to the robot body, so that the control of the robot is completed.
5. The EtherCAT bus-based robot control system according to claim 1, wherein the vision sensor includes a color camera and a depth camera, and the general purpose processing unit reads image data acquired by the vision sensor through a USB interface; the general processing unit is also provided with a human-computer interaction interface.
6. The EtherCAT bus based robot control system of claim 1, wherein the robot status data comprises: the current position, the current speed, the current acceleration and the current joint moment of a servo motor returned by each joint server of the robot;
the robot tip joint movement trajectory data includes: motion trajectory position, velocity and acceleration;
the control instructions include: target position, target speed, and target acceleration of a servo motor of each joint of the robot.
7. A robot control method based on an EtherCAT bus is characterized in that the control method adopts three functional layers for control, and comprises the following steps: a communication layer, a control layer and a decision layer;
the communication layer is used for processing an EtherCAT bus communication task, is a real-time task, has a communication period of 1ms, exchanges data with the robot body through the EtherCAT bus, uploads the data to the control layer, and is realized by an EtherCAT master station communication unit;
the control layer is used for processing a control task of the robot, the control task is a real-time task, the control period is 1ms, the task comprises robot kinematics resolving and joint track interpolation, the motion track of the tail end of the robot from the decision layer is received, and data are issued to the communication layer after the kinematics resolving and the interpolation, so that the control of the robot is realized, and the control is realized by the robot control unit;
the decision layer is used for a high-level strategy task in the robot control system, the high-level strategy task is a non-real-time task, the period is generally set to be 100ms, the high-level strategy task mainly comprises a target detection task, an obstacle identification task, a track planning task and a man-machine interaction task, and the high-level strategy task is realized by a general processing unit and an image processing unit; the control method comprises the following steps:
(1) the EtherCAT master station communication unit receives the robot state data and sequentially uploads the robot state data to the robot control unit and the general processing unit;
(2) the general processing unit receives image data acquired by the vision sensor, and transmits the image data to the image processing unit after preprocessing;
(3) the image processing unit processes the preprocessed image data by using a deep learning algorithm to acquire target position information and barrier position information;
(4) the general processing unit receives the state data of the robot, combines the target position information and the obstacle position information, and calculates the motion trail data of the tail end joint of the robot through obstacle avoidance and planning algorithms;
(5) the robot control unit performs kinematics calculation and joint motion track interpolation processing on the motion track data of the tail end joint of the robot, calculates the motion track of each joint of the robot, and issues a corresponding control command to the EtherCAT master station communication unit;
(6) and the EtherCAT master station communication unit realizes servo control on the robot according to the CIA402 protocol.
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| CN114952833A (en) * | 2022-05-18 | 2022-08-30 | 中国船舶集团有限公司第七二三研究所 | PCC-based large-scale mechanical arm real-time data transmission control method |
| CN114952833B (en) * | 2022-05-18 | 2023-11-21 | 中国船舶集团有限公司第七二三研究所 | PCC-based real-time data transmission control method for large mechanical arm |
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