CN207571581U - A kind of kinetic control system of series-parallel robot - Google Patents
A kind of kinetic control system of series-parallel robot Download PDFInfo
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- CN207571581U CN207571581U CN201721794313.4U CN201721794313U CN207571581U CN 207571581 U CN207571581 U CN 207571581U CN 201721794313 U CN201721794313 U CN 201721794313U CN 207571581 U CN207571581 U CN 207571581U
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- robot
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- control method
- parallel robot
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Abstract
Invention the utility model discloses a kind of kinetic control system of series-parallel robot, system is equipped with the series-parallel robot being made of multiple robot cells, each robot cell is at least provided with a servo motor, PC machine writes, debugs for series-parallel robot motion control method, and motion control method is delivered to controller, controller receives the status signal of each servo motor and outputs control signals to driver, and driver is according to control signal output drive signal to each servo motor.The utility model has the advantage of the motion controls for realizing series-parallel robot, and robot can be controlled to be moved, and stable movement according to the end orbit of planning, worked well；By the multiple mechanical structures of virtual emulation, verify that the portability of motion control method is strong, secondary development is simple, works well；And the motion control method is versatile, for different mechanical structure, it is only necessary to simple exploitation.
Description
Technical field
The utility model is related to industrial robot control field, and the expansible motion control field for using lathe.
Background technology
Motion planning and robot control refers to the motion control to each axis servomotor, including uniaxial, multiaxis control.Connection in series-parallel machine
Device people is also known as series-parallel robot, refers to include at least a parallel institution and one or more serial mechanisms according to certain mode
The complex mechanical system combined, it combines the excellent properties of cascaded structure and parallel institution.To series-parallel robot
Axis servomotor controlled, should realize the motion mode of series, parallel respectively, and can to robot integrally-built end orbit
It is planned, realizes the functions such as teaching, reproduction, programming.
The prior art has different kinetic control systems and method for different robotic structures, control on the market
Device product processed is mostly the motion control for conventional serial or parallel connection robot.Therefore, for the connection in series-parallel machine of special construction
Device people does not have corresponding kinetic control system and method.
Utility model content
Technical problem to be solved in the utility model is a kind of the general of series-parallel robot kinetic control system of realization
Motion control method.
To achieve these goals, the technical solution adopted in the utility model is：A kind of movement control of series-parallel robot
System processed, system are equipped with the series-parallel robot that is made of multiple robot cells, each robot cell at least provided with
One servo motor, system include PC machine, controller and driver, and the PC machine is used for series-parallel robot motion control method
Write, debug, and motion control method is delivered to controller, the controller receives the state of each servo motor
Signal simultaneously outputs control signals to driver, and the driver is according to control signal output drive signal to each servo electricity
Machine.
The controller includes：
The explanation planning module of movement instruction：For motion control method being decomposed, numbering, being classified as each servo motor
Path instructions；
The realization module of mark interpolation algorithm：For carrying out interpolation to each path instructions, later by each path instructions group
It is combined to form the complete movement locus of series-parallel robot；
Kinematic coordinate transferring：The movement of each axis servomotor is obtained according to the status signal of each servo motor
The location point of each axis servomotor is converted to robot end's spatial coordinate location by location point；
The position control module of axis servomotor：For driving each servo motor, position of the axis servomotor according to planning is controlled
Put movement.
The movement instruction explain planning module receive PC machine motion control method signal, and output trajectory instruct to
The realization module of mark interpolation algorithm, the realization module output trajectory function of the mark interpolation algorithm to kinematic coordinate modulus of conversion
Block, the kinematic coordinate transferring output signal to the position control module of axis servomotor, the position control of the axis servomotor
Molding block and driver real-time communication.
The path instructions are the execution signal that servo motor is driven to be moved in a manner of straight line, circular arc, easement curve.
The controller is damascene structures, is communicated between the controller and driver by EtherCAT.
The utility model has the advantage of the motion controls for realizing series-parallel robot, can control robot according to planning
End orbit movement, and stable movement works well；By the multiple mechanical structures of virtual emulation, motion control method is verified
Portability it is strong, secondary development is simple, works well；And the motion control method is versatile, for different machinery
Structure, it is only necessary to simple exploitation.
Description of the drawings
The content of width attached drawing expression every in the utility model specification is briefly described below：
Fig. 1 is the kinetic control system block diagram of series-parallel robot；
Fig. 2 is the motion control method flow chart of series-parallel robot.
Specific embodiment
Series-parallel robot is to provide dynamical system by servo motor, and motion control uses centralized control, by embedding
Enter formula controller control driver, communicated between controller and driver using EtherCAT, pass through the controller software of host computer
Carry out the realization of motion control.I.e. entire kinetic control system is by PC machine, (embedded) controller, driver, servo motor, string
Parallel robot machinery structure composition, as shown in Figure 1.The writing of motion control method is carried out in PC machine, is debugged, passes through controller
The state of on-line checking axis servomotor and the action for controlling driver.
The process of motion planning and robot control can be divided into four parts：The explanation planning of movement instruction, track interpolation
Realization, kinematic coordinate conversion, axis servomotor position control.Aforementioned four part is packaged, is provided between each section
Interface, for the logic of process entirely to be controlled to realize.
The explanation planning of movement instruction refers to by the language that movement instruction conversion input by user is machine understanding, and to fortune
Dynamic process is decomposed, is numbered, is sorted out, and the track of any complexity can be split as three type such as straight line, circular arc, easement curve
Type, most all types of data outputs at last；Track interpolation carries out different tracks different Interpolation Process, then will be each
Track combination together, ultimately forms complete movement locus and exports；Kinematic coordinate conversion is according to specific machine
End orbit space coordinate point is transformed into joint space, i.e., the movement position point of each axis servomotor, while can incite somebody to action each by people's structure
The location status of axis servomotor is converted to robot end's spatial coordinate location；The position control of axis servomotor refers to carry out with driver
Real-time communication sends location information, and axis servomotor is controlled to be moved according to the position of planning.
The specific implementation flow of motion control process, as shown in Figure 2.Before robot motion, the movement of input is received
The algorithm of the first and second parts is called in instruction, is the function trace after interpolation by movement instruction conversion, this is one offline
That is, before robot operation, the lopcus function with time correlation is obtained according to the input of user for process, can be in robot motion
Track accessible detecting is carried out before, and analyzes the influence of the speed of track, acceleration, is improved the precision of track, is reduced to machine
The damage of tool equipment；Robot is run, the algorithm of the third and fourth part is called, lopcus function is input to according to interpolation cycle
Servo-driver, this is an online process, needs to send the position of axis servomotor in real time, establishes the movement using the time as sequence
Process completes entire motion control.
The utility model is exemplarily described above in conjunction with attached drawing, it is clear that the utility model specific implementation not by
The limitation of aforesaid way, as long as employing changing for the various unsubstantialities that the methodology of the utility model and technical solution carry out
Into or it is not improved the design of the utility model and technical solution are directly applied into other occasions, in the utility model
Protection domain within.
Claims (1)
1. a kind of kinetic control system of series-parallel robot, system is equipped with the connection in series-parallel machine being made of multiple robot cells
Device people, each robot cell is at least provided with a servo motor, it is characterised in that：System include PC machine, controller and
Driver, the PC machine write, debug, and motion control method is delivered to for series-parallel robot motion control method
Controller, the controller receive the status signal of each servo motor and output control signals to driver, the drive
Dynamic device is according to control signal output drive signal to each servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721794313.4U CN207571581U (en) | 2017-12-20 | 2017-12-20 | A kind of kinetic control system of series-parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721794313.4U CN207571581U (en) | 2017-12-20 | 2017-12-20 | A kind of kinetic control system of series-parallel robot |
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| CN207571581U true CN207571581U (en) | 2018-07-03 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112925306A (en) * | 2021-01-12 | 2021-06-08 | 河南科技大学 | Delta robot-based trajectory planning method |
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2017
- 2017-12-20 CN CN201721794313.4U patent/CN207571581U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112925306A (en) * | 2021-01-12 | 2021-06-08 | 河南科技大学 | Delta robot-based trajectory planning method |
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