JPS58117005A - Multi-axis control system - Google Patents

Abstract

PURPOSE:To eliminate undesirable momentary stop operation caused by the interruption, by performing driving control with a control signal based on position information from a sensor and providing a plurality of control axes. CONSTITUTION:A sensor processor 7 writes an indication data on a common buffer memory and informs a data set indication to an operation processor 8-1. The processor 8-1 operates deceleration from the present operation based on said information. When a stop state is obtained, for example, the contents of a common buffer memory are read, the data read notice is informed to the sensor processor 7 and starts the operation corresponding to said indication data. The sensor processor 7 receives said data read notice and sets the next indication data to the common buffer memory.

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field of the Invention The present invention relates to a multi-axis control system, particularly a robot having a plurality of joints, in which a sensor processor for sensors and a manipulation processor for manipulating joints are separated. In the multi-axis tVl+ control system, both the sensor processor writes the instruction data on the 1111 buffer memory and notifies the operation processor of the data set instruction.
The present invention relates to a multi-axis control system in which the instruction data for decelerating the current operation is read from a common buffer memory based on the N button, thereby eliminating an undesired instantaneous stop operation of the operation that occurs based on one interrupt. It is something.

(Bl Background and Purpose of the Technology For example, in a pot that moves a multi-jointed arm while detecting the position using a central controller such as a TV camera, there is a senna processing function that processes information from the central controller and operations for the arm. If these two functions were to be performed by a single microprocessor, for example, as will be described later with reference to FIG. 1, the load on the processor would be too large. The movement of the arm becomes undesirably interrupted.In order to solve this problem, as will be described later with reference to FIG.
A system is adopted in which a processor t and an operation processor are provided corresponding to each joint, and each joint is assigned a function.

However, even in this case, an undesired instantaneous stop operation occurs regarding the protection of instruction data, as will be described later with reference to FIG.

(C) Object and Structure of the Invention The present invention aims to solve the above problem, and solves the above problem by making the instruction data from the sensor processor readable after a certain period of time. It aims to solve the problem. Therefore, the multi-axis control system of the present invention has a plurality of control axes, is configured to perform drive control using control signals based on position information from sensors, and is compatible with each of the above-mentioned (2) axes. In a multi-axis control system, the system includes an operation processor that is provided to operate the control axis, and a sensor processor that processes position information from the sensor and gives instructions to each of the operation processors.

A common buffer that each of the above operation processors and the above sensor processor have in common as their own address space.
In addition to having memory, the above sensor processor tFi
, writes the instruction data on the common buffer memory, issues a data set instruction to the queen operating processor, receives a data read notification from the operating processor, and writes the next instruction data. The above common buffer
each operation processor is configured to initiate an operation to write to memory, and each of said operation processors acknowledges said data set instruction and transitions to deceleration of the current operation; A data read notification is issued and the next kh corresponding to the relevant instruction data f't=K
It is characterized by being configured to migrate. This will be explained below with reference to the drawings.

(I)) Embodiments of the Invention Fig. 1 shows an example of a control system using a single processor, and Fig. 2 shows the configuration of a multi-axis control system before improvement according to the present invention, which is a central example of the present invention. 2 also represent tubes having substantially the same configuration. FIG. 3 is an explanatory diagram for explaining the prerequisite problem of the present invention, FIG. 4 is an explanatory diagram for explaining the operation of an embodiment according to the present invention, and FIG. 5 is a diagram showing the main part configuration of a practical example of the present invention.

In Fig. 1, 1 is a processor, 2 is a sensor such as a TV camera, 3 is an interface section, and 4 is an articulated arm (
Also, 5 is the control circuit S.

6/It is changing the field of view of the fiTv camera.

In the illustrated configuration, the coordinate position of the tip of the multi-joint arm is detected by the center t2, and this position information is notified to the gross set 1 via the interface section 3t. Processor I
U. Calculate the positional relationship between the above positional information and the anxiety mark, determine the direction and distance in which the multi-joint arm 4 will be moved next, and send it to the control circuit section 5. The control circuit section 5#'i causes the multi-joint arm 4 to move. This darkness, Sen+2
works to detect the coordinate position of the tip of the multi-joint arm 4.

In the case shown in FIG. 1, as described above, the single processor 1 has a sensor processing function that performs necessary processing in response to sense information from the sensor 2, and an operation instruction that gives instructions to the control rotation section 5. Since it is necessary to perform at least two functions, the movement of the multi-joint arm 4 becomes intermittent.

Fig. 2 shows a configuration in which the sensor processor and the operation processor are separated in order to solve the problems of the configuration shown in Fig. 1. 7 corresponds to Sensor Procera t, 8-1, 8-2Fi
9-1 and 9-2 are operation processors that correspond one-to-one to each joint, respectively, and control circuit units 10F.
The i co-pass path is represented in line 1. In the illustrated configuration, the Senna processing functions described in connection with FIG. 1 are executed by the Senna processor 7;
Regarding the operation instruction function, each operation processor +8-1 and 8-
2 and 2 perform operations on their respective joints.

Then, the sensor processor f7 and each operation processor 8-
1.8-2, instruction data is exchanged via the common bus-twin 10 through a nont-shake interface.

However, even in the case of the configuration shown in FIG.

A new technological layer has arisen. That is, in controlling the joints of this virtue, it is desirable to control the movement speed of the joints so that they start with a swivel and stop with a swivel, as shown in the third rotation diagram.

However, in the configuration shown in FIG. 2, when the sensor processor 7 sends the next instruction data to the operation processor 8-1, the sensor processor 7 interrupts the operation processor 8-1. As a result, the movement of the -joint arm undesirably comes to a momentary stop. Regarding this point, Figure 3 (Bl
This will be explained with reference to (C).

Valve cylinder 3 (G)) As shown in the figure, consider moving the arm in the direction of the arrow with a center point 0.

In this case, the arm is accelerated as shown in FIG. 3(C). The coordinate position corresponding to this movement is the second
When the arm reaches the target point after being detected by the sensor t2 shown in the figure, the operation processor t8-1 receives an interrupt from the sensor t7 after a little delay from the general KFi. .

This state is shown as RBG in the figure], and the arm has been traveling as shown in the figure until now. The operation processor 8-1 that has been interrupted has its previous arm operation processing interrupted, and receives the next instruction data based on the interrupt K.

That is, in the case shown in the figure, #i, instruction data instructing the vehicle to perform the traveling shown in the figure (■) is received. Due to the above-mentioned interruption, the movement of the arm KFi is rapidly stopped (8P), and the arm is slowly accelerated as shown in the figure based on the operation process corresponding to the instruction data shown in the figure (3).

As described above, the sensor control processor 7 notifies the instruction data by interrupt, and the operation processor 8-1 interrupts the current operation processing and enters the process of receiving the instruction data, so that the sensor controller 7 notifies the movement of the % arm. The desired momentary stop condition occurs.

FIG. 4 illustrates the operation of one embodiment according to the present invention. That is, in the case of the present invention, as will be explained with reference to FIG. do. Of course, if the operation processor 8-1 is executing the deceleration operation process, it will not be able to receive the above-mentioned instruction data, so KWi! ,l
I'm doing t. That is, the Senna processor 7 stores the above-mentioned instruction data t on the common buffer memory as shown in FIG.
- Instruct the data set instruction to be sent to the operation processor 8-1. Operation processor 8-1
Based on this # notification, the current operation is operated to perform a deceleration operation, and, for example, when the stop (8P) state is reached, the contents of the above-mentioned common buffer memory are taken out and the data Lead notification sensor processor 7
At the same time, the operation corresponding to the instruction data (■ in the figure) is started. In the sensor processor 7, upon receiving the data read notification, an operation is performed to set the fifth-order instruction data in the common buffer memory.

FIG. 5 shows the configuration of an embodiment of the present invention, and the numbers 7.8-1.8-2.10 in the figure correspond to those in FIG. 2), 1
1 represents the common buffer memory. The sensor processor 7 has the address of the common buffer memory in its own address space.

You can read/write by specifying the address. The same applies to the operations 8-1 and 8-2.

Sensor processor 7 and each operation processor 8-1 and 8-
Regarding the transfer of data to and from 2, the explanation will be repeated with reference to FIG. 4, and further explanation will be omitted. The contents of the common buffer memory 11 can be read on the friend. Therefore, as shown in FIG. 4, it is possible to perform the desired smooth arm movement.

(hl) Effects of the Invention: As stated, according to the present invention, for example, the movement of Kanjun AR5 becomes extremely smooth.In addition, it is possible to use a common buffer memory for communication between processors. Although this is known per se, in the case of the present invention, it is possible to make the movement of the arm etc. smooth.

FIG. 1 shows an example of a control system using a single processor, and FIG. 2 shows the configuration of a multi-axis control system before improvement according to the present invention. Fig. 3 is an explanatory diagram for explaining the prerequisite problem of the present invention between stations, Fig. 4 is an explanatory diagram for explaining the operation of an embodiment according to the present invention, and Fig. 5 is an explanatory diagram for explaining the operation of an embodiment according to the present invention. The main part configuration of the embodiment is shown.

In the figure, 2 is a senna, 3 is an interface section, 4 is an articulated arm (or robot), 7 is a sensor processor, 8
is the operation processor, 9#ifb! +#Circuit section, 10#i
Common Bus Line %li#i Represents common buffer memory.

4I permission person Shijutsu Co., Ltd.

Claims (1)

[Claims] It has a plurality of control axes and is configured so that drive control is performed by control signals based on position information from sensors, and an operation processor that is provided for each of the control axes and operates the control axis. In a multi-axis control system having a sensor processor that processes position information from the sensor and gives instructions to each of the operation processors, each of the operation processors and the sensor processor have a common address space as their own address space. The sensor processor is provided with a common buffer memory, and after writing the instruction data onto the common buffer memory, issues a data set instruction to the operation processor t, and receives data from the 11I11 processor. The processor is configured to confirm the data read notification and start the operation of writing the next instruction data to the common buffer memory, and the above processor is configured to write the data set instruction to the a &
IAt, the current operation is rapidly decreasing and the above common buffer
A multi-axis side axis system characterized by being configured to read instruction data on a memory, issue the data read notification, and move to the next operation corresponding to the instruction data.