CN206544182U - A kind of robot control system - Google Patents
A kind of robot control system Download PDFInfo
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- CN206544182U CN206544182U CN201621363126.6U CN201621363126U CN206544182U CN 206544182 U CN206544182 U CN 206544182U CN 201621363126 U CN201621363126 U CN 201621363126U CN 206544182 U CN206544182 U CN 206544182U
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- control system
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Abstract
The utility model discloses a kind of robot control system, including dual core processor, dual core processor includes arm processor and DSP Processor, the utility model uses ARM+DSP control strategies, replace industrial computer PC+ motion control cards+servo-driver+Serve Motor Control mode in traditional approach, ARM is responsible for the motion planning and trajectory planning of robot, DSP Processor is then responsible for the dynamics and kinematics operation of robot, take full advantage of the powerful operational capabilities of DSP and ARM peripheral control ability, such function distribution can effectively reduce the expense of main control chip, more resources are used for control system security and are accurately controlled, cost performance can be increased substantially, the utility model possesses EtherNet and Pulse analog control mode is available for user to select, it is suitable for the servo-driver and servomotor of multiple control modes, facilitate the real-time method for handover control of user, versatility is stronger.
Description
Technical field
The utility model is related to Embedded computer system technical field, and in particular to a kind of robot control system.
Background technology
The six degree of freedom special motion controller hardware platform of Xian Electronics Science and Technology University's exploitation uses ARM+FPGA frameworks,
On the one hand control to multiple motors is realized using bus mode, specific bottom layer driving is completed by smart machine, pair can set
Standby state, failure etc. are detected in real time；On the other hand, the sampling functions of external sensor are by miscellaneous function chip FPGA is Lai complete
Into, and the data needed are simply then obtained by external interface when needing as the ARM microcontroller of main control chip.
But prior art has the disadvantage that：
1) robot dynamics's arithmetic element, is used as using ARM so that efficiency is low when system does large-scale complex computing
Under；
2), control mode is single, only supporting bus communication or Sing plus Analog control mode, underaction.
Utility model content
In view of this, in order to solve above mentioned problem of the prior art, it is the utility model proposes a kind of control of robot
System, can effectively reduce the expense of main control chip, and control mode compares freedom and flexibility, is suitable for watching for multiple control modes
Take driver and servomotor.
The utility model is solved the above problems by following technological means：
A kind of robot control system, including dual core processor, dual core processor are deposited with network communication module, data respectively
Store up module, monitoring module, network communication servo-driver, pulse generating module, the connection of DAC D/A converter modules；Network communication
Module is connected with host computer；Pulse generating module is connected with pulse command servo-driver；DAC D/A converter modules and analog quantity
Instruct servo-driver connection；Network communication servo-driver is connected with servomotor；Servomotor also respectively with pulse command
Servo-driver, analog quantity instruction servo-driver, robot, encoder connection；Also include power management module；
The power management module is used to provide power supply to control system；
The dual core processor includes first processor, second processor；Enter between first processor and second processor
Row data communication；
The first processor is used for the motion planning, trajectory planning and peripheral control for being responsible for robot；
The second processor is used for dynamics and kinematics operation and the closed-loop control for being responsible for robot；
The host computer is used for the control mode that user operates selection control system, and control mode is controlled including network communication
Mode, pulse command control mode, analog quantity instruction control mode；
The network communication module is used to realize host computer and the high efficiency communication of control system child node；
The data memory module is used to store various data；
The monitoring module is used for temperature, voltage and the electric current of detecting and controlling system；
The network communication servo-driver is used to drive servomotor according to the network signal of reception；
The pulse generating module is used to send corresponding pulse command according to the pulse generation of reception instruction；
The pulse command driver is used to drive servomotor according to the pulse command of reception；
The DAC D/A converter modules are used for the digital command transformation analog quantity instruction of reception；
The analog quantity instruction servo-driver is used for the analog quantity order-driven servomotor according to reception；
The servomotor is used to drive robot to make corresponding mechanical action；
The operational factor Real-time Feedback that the encoder is used to gather on servomotor realizes that closed loop is transported to dual core processor
Calculate.
Further, the first processor is arm processor, and second processor is DSP Processor.
Further, the network communication module realizes that host computer leads to the efficient of control system child node by Ethernet
News, the network communication servo-driver drives servomotor according to the ethernet signal of reception.
Further, the robot control system also includes the serial port module being connected with dual core processor, the serial ports
Module is used to realize that control system is connected with external equipment using the expansion interface of serial communication mode.
Further, the robot control system also includes the display module being connected with dual core processor, the display
Module is used for the status data for showing reflection control system.
Further, the robot control system also includes the extension I/O module being connected with dual core processor, the expansion
Exhibition I/O module is used for control system and carries out data analysis with external equipment or exchange.
Further, the power management module is powered low pressure 5V to network communication module, to other modules of control system
Low pressure of powering 3.3V.
Compared with prior art, the beneficial effects of the utility model are as follows：
1), the utility model is using ARM as peripheral control and detection, and DSP completes system dynamics computing, made full use of
Respective advantage, has simplified control system, cost performance is increased substantially；
2), the utility model can realize that high-speed data is exchanged and networking using EhtherNet；
3), the utility model possesses EtherNet and Pulse analog control mode is for selection, and control mode compares certainly
By flexible, the servo-driver and servomotor of multiple control modes are suitable for.
Brief description of the drawings
, below will be to needed for embodiment description in order to illustrate more clearly of the technical scheme in the utility model embodiment
The accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present utility model
Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the structural representation of the utility model robot control system embodiment 1；
Fig. 2 is the structural representation of the utility model robot control system embodiment 2.
Embodiment
To enable above-mentioned purpose of the present utility model, feature and advantage more obvious understandable, below in conjunction with accompanying drawing and
The technical solution of the utility model is described in detail specific embodiment.It is pointed out that described embodiment is only
Only it is a part of embodiment of the utility model, rather than whole embodiments, based on the embodiment in the utility model, this area
The every other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to the utility model
The scope of protection.
Embodiment 1
As shown in figure 1, the utility model provides a kind of robot control system, including dual core processor, dual core processor
Respectively with network communication module, data memory module, monitoring module, network communication servo-driver, pulse generating module, DAC
D/A converter module is connected；Network communication module is connected with host computer；Pulse generating module connects with pulse command servo-driver
Connect；DAC D/A converter modules are connected with analog quantity instruction servo-driver；Network communication servo-driver connects with servomotor
Connect；Servomotor is also connected with pulse command servo-driver, analog quantity instruction servo-driver, robot, encoder respectively；
Also include power management module.
The power management module is used to provide power supply to control system, and power management module is low-tension supply, power supply pipe
Reason module is powered low pressure 5V to network communication module, to other module for power supply low pressure of control system 3.3V.
The dual core processor uses F28M36P63C2, and dual core processor includes first processor, second processor；The
Data communication is carried out by IPC between one processor and second processor；First processor is arm processor, second processor
For DSP Processor, arm processor is used for the motion planning, trajectory planning and peripheral control for being responsible for robot, and DSP Processor is used
In the dynamics and kinematics operation and closed-loop control of being responsible for robot.
The host computer is used for the control mode that user operates selection control system, and control mode is controlled including network communication
Mode, pulse command control mode, analog quantity instruction control mode, facilitate the real-time switching control mode of user, control mode ratio
Relatively flexibly, the servo-driver and servomotor of multiple control modes can be used, versatility is stronger.
The network communication servo-driver is used to drive servomotor according to the network signal of reception；The pulse generation
Module is used to send corresponding pulse command according to the pulse generation of reception instruction；The pulse command driver is used for basis and connect
The pulse command driving servomotor of receipts；The DAC D/A converter modules are used to refer to the digital command transformation analog quantity of reception
Order；Circuit uses the generation of DAC8871 chips realization ± 10V analog quantity voltages；The analog quantity instruction servo-driver is used for
According to the analog quantity order-driven servomotor of reception；The servo for being applicable to multiple control modes is selected to drive according to control mode
Dynamic device and servomotor, when using network communication mode, network communication circuit unit is effective, when using pulse command controlling party
During formula, effectively, when using Analog control mode, DAC-circuit enables effective pulse generating circuit unit.
The servomotor is used to drive robot to make corresponding mechanical action.
The network communication module is used to realize host computer and the high efficiency communication of control system child node, using EtherNET
Bus mode, realizes the logical of host computer and robot control system child node high efficiency communication or control system and servo-drive system
News, EtherNet PORT COMs circuit is realized using LAN8710 and H1102 net mouth transformers.
The monitoring module is used for temperature, voltage and the electric current of detecting and controlling system.
The data memory module is used to store various data, includes the various parameters of monitoring module detection.
The operational factor Real-time Feedback that the encoder is used to gather on servomotor realizes that closed loop is transported to dual core processor
Calculate.Operational factor on servomotor is fed back to control system by the orthogonal encoder in robot servo motors in real time
System, realizes closed loop computing.
The utility model use ARM+DSP control strategies, substitution traditional approach in industrial computer PC+ motion control cards+
Servo-driver+Serve Motor Control mode, ARM is responsible for the motion planning and trajectory planning of robot, and DSP Processor is then born
The dynamics and kinematics operation of robot are blamed, the powerful operational capabilities of DSP and ARM peripheral control energy is taken full advantage of
Power.Such function distribution can effectively reduce the expense of main control chip, by more resources be used for control system security and
It is accurately controlled, cost performance can be increased substantially.
The utility model possesses EtherNet and Pulse analog control mode is available for user to select, and is suitable for various control
The servo-driver and servomotor of mode, facilitate the real-time method for handover control of user, and versatility is stronger.
Workflow of the present utility model is as follows：
User is first by the control mode of upper computer selecting control system, and network communication controlling party may be selected in control mode
Formula, pulse command control mode, analog quantity instruction control mode, network communication module realize host computer and control system child node
High efficiency communication, dual core processor F28M36P63C2 includes arm processor, DSP Processor, arm processor and DSP Processor
Between data communication can be carried out by IPC, arm processor is used to be responsible for the motion planning of robot, trajectory planning and contained outside
System, DSP Processor is used for dynamics and kinematics operation and the closed-loop control for being responsible for robot, when selection network communication controlling party
During formula, effectively, dual core processor sends the signal to network communication to network communication circuit unit by EtherNET bus modes
Servo-driver, network communication servo-driver drives servomotor band mobile robot to make accordingly according to the network signal of reception
Mechanical action；When selecting pulse command control mode, effectively, dual core processor sends pulse hair to pulse generating circuit unit
Pulse generating module is arrived in raw instruction, and pulse generating module sends corresponding pulse command, arteries and veins according to the pulse generation of reception instruction
Punching instruction servo-driver drives servomotor band mobile robot to make corresponding mechanical action according to the pulse command of reception；When
When selecting analog quantity instruction control mode, DAC-circuit is enabled effectively, and dual core processor sends digital command to DAC digital-to-analogue conversions
Module, DAC D/A converter modules instruct the digital command of reception transformation analog quantity, and analog quantity instructs servo-driver according to connecing
The analog quantity order-driven servomotor band mobile robot of receipts makes corresponding mechanical action, and monitoring module is used to detect control system
Temperature, voltage and the electric current of system, data memory module are used to store various data, include each seed ginseng of monitoring module detection
Number, the operational factor Real-time Feedback that encoder is used to gather on servomotor realizes closed loop computing to dual core processor.
Embodiment 2
As shown in Fig. 2 the utility model also provides robot control system described in a kind of robot control system, implementing
Also include the serial port module being connected with dual core processor on the basis of example 1, the serial port module is used to use serial communication mode
Expansion interface realize that control system is connected with external equipment.
The robot control system also includes the display module being connected with dual core processor, and the display module is used to show
Show the status data of reflection control system.
The robot control system also includes the extension I/O module being connected with dual core processor, and the extension I/O module is used
Data analysis is carried out in control system and external equipment or is exchanged.
Compared with prior art, the beneficial effects of the utility model are as follows：
1), the utility model is using ARM as peripheral control and detection, and DSP completes system dynamics computing, made full use of
Respective advantage, has simplified control system, cost performance is increased substantially；
2), the utility model can realize that high-speed data is exchanged and networking using EhtherNet；
3), the utility model possesses EtherNet and Pulse analog control mode is for selection, and control mode compares certainly
By flexible, the servo-driver and servomotor of multiple control modes are suitable for.
Embodiment described above only expresses several embodiments of the present utility model, and it describes more specific and detailed,
But therefore it can not be interpreted as the limitation to the utility model the scope of the claims.It should be pointed out that for the common of this area
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (7)
1. a kind of robot control system, it is characterised in that including dual core processor, dual core processor respectively with network communication mould
Block, data memory module, monitoring module, network communication servo-driver, pulse generating module, the connection of DAC D/A converter modules；
Network communication module is connected with host computer；Pulse generating module is connected with pulse command servo-driver；DAC D/A converter modules
It is connected with analog quantity instruction servo-driver；Network communication servo-driver is connected with servomotor；Servomotor also respectively with
Pulse command servo-driver, analog quantity instruction servo-driver, robot, encoder connection；Also include power management module；
The power management module is used to provide power supply to control system；
The dual core processor includes first processor, second processor；Enter line number between first processor and second processor
According to communication；
The first processor is used for the motion planning, trajectory planning and peripheral control for being responsible for robot；
The second processor is used for dynamics and kinematics operation and the closed-loop control for being responsible for robot；
The host computer is used for the control mode that user operates selection control system, and control mode includes network communication controlling party
Formula, pulse command control mode, analog quantity instruction control mode；
The network communication module is used to realize host computer and the high efficiency communication of control system child node；
The data memory module is used to store various data；
The monitoring module is used for temperature, voltage and the electric current of detecting and controlling system；
The network communication servo-driver is used to drive servomotor according to the network signal of reception；
The pulse generating module is used to send corresponding pulse command according to the pulse generation of reception instruction；
Pulse command driver is used to drive servomotor according to the pulse command of reception；
The DAC D/A converter modules are used for the digital command transformation analog quantity instruction of reception；
The analog quantity instruction servo-driver is used for the analog quantity order-driven servomotor according to reception；
The servomotor is used to drive robot to make corresponding mechanical action；
The operational factor Real-time Feedback that the encoder is used to gather on servomotor realizes closed loop computing to dual core processor.
2. robot control system according to claim 1, it is characterised in that the first processor is arm processor,
Second processor is DSP Processor.
3. robot control system according to claim 1, it is characterised in that the network communication module passes through Ethernet
The high efficiency communication of host computer and control system child node is realized, the network communication servo-driver is believed according to the Ethernet of reception
Number driving servomotor.
4. robot control system according to claim 1, it is characterised in that the robot control system also include with
The serial port module of dual core processor connection, the serial port module is used to realize control system using the expansion interface of serial communication mode
System is connected with external equipment.
5. robot control system according to claim 1, it is characterised in that the robot control system also include with
The display module of dual core processor connection, the display module is used for the status data for showing reflection control system.
6. robot control system according to claim 1, it is characterised in that the robot control system also include with
The extension I/O module of dual core processor connection, the extension I/O module be used for control system and external equipment carry out data analysis or
Exchange.
7. robot control system according to claim 1, it is characterised in that the power management module is to network communication
Module for power supply low pressure 5V, to other module for power supply low pressure of control system 3.3V.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621363126.6U CN206544182U (en) | 2016-12-13 | 2016-12-13 | A kind of robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621363126.6U CN206544182U (en) | 2016-12-13 | 2016-12-13 | A kind of robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206544182U true CN206544182U (en) | 2017-10-10 |
Family
ID=59993492
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621363126.6U Withdrawn - After Issue CN206544182U (en) | 2016-12-13 | 2016-12-13 | A kind of robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206544182U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426184A (en) * | 2016-12-13 | 2017-02-22 | 广州中国科学院先进技术研究所 | Robot control system |
| CN109669527A (en) * | 2018-12-18 | 2019-04-23 | Oppo广东移动通信有限公司 | Data processing method and electronic equipment |
| CN111168671A (en) * | 2020-01-02 | 2020-05-19 | 珠海格力电器股份有限公司 | Servo driver, control method and control system |
-
2016
- 2016-12-13 CN CN201621363126.6U patent/CN206544182U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426184A (en) * | 2016-12-13 | 2017-02-22 | 广州中国科学院先进技术研究所 | Robot control system |
| CN109669527A (en) * | 2018-12-18 | 2019-04-23 | Oppo广东移动通信有限公司 | Data processing method and electronic equipment |
| CN111168671A (en) * | 2020-01-02 | 2020-05-19 | 珠海格力电器股份有限公司 | Servo driver, control method and control system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171010 Effective date of abandoning: 20190322 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20171010 Effective date of abandoning: 20190322 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |