KR101024549B1 - System for joint mapping of robot controller - Google Patents

Abstract

PURPOSE: A system for joint mapping of a robot controller is provided to map a logical connection sequence and a physical connection sequence, thereby being applied to an interface. CONSTITUTION: In a system for joint mapping of a robot controller, an APMP_COMMAND(211) stores a command for transferring to a user joint or a robot. An APMP ACK stores a response to a robot command or a joint command. An APMP STATUS(215) stores latest updated information in the robot or the joint. An APMP_PAREMETER(216) updates or reads out parameters of the joint or the robot. The APMP PAREMETER and APMP_COMMAND_AC are used together.

Description

Joint mapping system of robot controller {SYSTEM FOR JOINT MAPPING OF ROBOT CONTROLLER}

The present invention relates to a robot controller, and more particularly to a joint mapping system of the robot controller.

Conventional robot control system requires a number of controllers, the number of cables increases in proportion to the number of axes, there is a problem such as simple diagnosis, monitoring only, maintenance difficulty.

In order to improve this, a motion network based control system has recently been introduced. The motion network based control system requires only one high performance controller, only a single network cable, and has various advantages of diagnosis, monitoring, and maintenance.

The network-based robot controller consists of a master and a slave. Although the master and the slave are physically connected to each other, there is a problem that the physical connection order and the logical connection order are not always the same.

An object of the present invention is to map a logical connection order and a physical connection order between a master and a slave.

According to one aspect of the invention, a joint mapping system of a robot controller is disclosed.

The joint mapping system of the robot controller according to the embodiment of the present invention is shared by an application processor and a master processor, and is used when a user transmits a command to the robot controller, and includes a first memory area including a logical joint, An internal memory space, connected to a logical joint of the first memory area, a second memory area to which logical and physical joints are mapped, connected to a physical joint of the second memory area, and connected to the master processor and the MAC (Media Access Controller) is shared, the master processor is connected to the logical joint of the third memory area, the first memory area and the second memory area where the frame temporarily stores, and shared by the master processor and the robot processor A physical joint of a fourth memory area and the third memory area And a fifth memory area that is connected and is an internal memory space of the MAC.

The present invention has the effect of mapping the logical connection order and the physical connection order between the master and the slave (Mapping).

In addition, the present invention has an effect that can be applied to simple IO (In-Out) interface processing, such as various sensors and relays.

Hereinafter, embodiments of the member position measuring method and apparatus according to the present invention will be described in detail with reference to the accompanying drawings, in the following description with reference to the accompanying drawings, the same or corresponding components are given the same reference numerals and Duplicate explanations will be omitted.

1 is a diagram illustrating an example of a motion network based control system according to the present invention. More specifically, FIG. 1 is a diagram illustrating a mapping relationship between the motion control module 110 and the sub control module 120.

Referring to FIG. 1, the motion control module 110 and the sub control module 120 may be physically connected through the motion network 130. The relationship connected by the dotted line represents a logical connection relationship. Hereinafter, for convenience and understanding of the description, the motion control module 110 will be described as a master and the sub control module 120 is called a slave.

The master must process coordinated motion to send commands for each axis to multiple axes, and obtain status information for each axis. At this time, the physical connection order and the logical connection order between the master and the slave do not always match. Therefore, the logical connection order and the physical connection order resulting from coordinated motion processing must be mapped. As shown in FIG. 1, a dotted line between the master and the slave in FIG. 1 represents a mapping relationship.

In order to map a logical joint and a physical joint, two pieces of information are required, a logical joint and a physical joint. The user should form a 1: 1 correspondence between the physical and logical joints on a joint basis. In the joint mapping method of the robot controller according to the present invention, each slave includes one or more joints.

The robot control system (not shown) according to the present invention scans and stores information of a network at first booting. At this time, the robot control system receives the number of joints each slave has from each slave. Accordingly, the robot control system can recognize to which slave each physical axis is connected, respectively, which are addressed sequentially.

Logical addresses are grouped according to the maximum number of axes doing coordinated motion for coordinated motion.

2 is a view for explaining a joint mapping system of the robot controller according to an embodiment of the present invention. More specifically, FIG. 2 is a diagram illustrating how robot or servo unit commands are transmitted to a network frame after booting.

Joint mapping according to the present invention represents the relationship between physical joints and logical joints. That is, the physical joint and the logical joint have a 1: 1 correspondence. If the physical joint is not connected to the network, the physical joint is connected to any logical joint that is not used.

Since a plurality of joints must be synchronized for the robot control, a logical joint for the robot is predetermined. For example, the rule is that the robot has six joints to represent all positions and rotations in the workspace. However, there are cases where the robot has to combine six or more joints in a redundant degree of freedom robot.

The robot controller according to the present invention is an environment in which three processors operate simultaneously. The three processors include an application processor (AP) that operates to execute user programs, a master processor (MP) that processes data transmission over a network, and a robot processor (RP) that processes control data of a robot. )to be. The three processors can be connected to one port memory or two port memories via a common bus.

Hereinafter, a joint mapping system of a robot controller according to the present invention will be described with reference to FIG. 2.

Each box illustrated in FIG. 2 represents a space of a memory, and an arrow indicates a direction in which a command is transmitted. In addition, the hatched boxes of each box shown in FIG. 2 correspond to physical units, and the remaining boxes correspond to logical units.

APMP_ * (211, 212, 213, 214, 215, 216) is a memory space shared by the application processor and the master processor, MP_ * (221, 222, 223) is the internal memory space of the master processor.

The FRAME_TX 231 and FRAME_RX 232 are memory spaces in which a master processor temporarily stores frames for transmitting and receiving information to and from a network. The memory spaces C for transmitting periodic instructions and memory spaces for transmitting aperiodic instructions ( AC) may be included respectively. In addition, the FRAME_TX 231 and the FRAME_RX 232 are memory spaces shared by the master processor and the media access controller (MAC).

MAC_TX 251 and MAC_RX 252 are the internal memory space of the MAC.

RP_ * (241, 242, 243) is a memory space shared by the master processor and the robot processor.

When the user uses the robot controller, the user can issue a joint unit command or a robot unit command. APMP_ * 211, 212, 213, 214, 215, and 216 may be a memory space for storing a command used when a user transmits a command to the robot controller.

For example, the APMP_COMMAND 211 may be a memory space in which a command transmitted by a user to a joint or a robot is stored, and the APMP_ACK 212 may be a memory space in which an acknowledgment by a robot command or a joint command is stored. . The APMP _ * _ Cs 211 and 212 may mean commands that are periodically transmitted, and the APMP _ * _ ACs 213 and 214 may mean commands that are periodically transmitted. Periodically transmitted commands include distance, speed and torque to move per given time (sampling time) for continuous motion, and aperiodically transmitted commands include parameter setting. The APMP_STATUS 215 is a memory space in which the latest updated information is stored in the robot or joint. The APMP_STATUS 215 may read the updated latest information if desired by the user. The APMP_PARAMETER 216 may be used together with the APMP_COMMAND_AC 213 to update or read parameters of a joint or a robot. The APMP_COMMAND_AC 213 is a relatively small memory space, and transmits only a change or not for an arbitrary parameter as a command, and the actual parameter may store data to be transmitted or received through the APMP_PARAMETER 216.

The MP_ * 221, 222, 223 and RP_ * 241, 242, 243 may have a memory space corresponding to each memory space of the APMP_ * 211, 212, 213, 214, 215, and 216. That is, MP_ * 221, 222, 223 and RP_ * 241, 242, 243 are connected with logical joints of APMP_ * 211, 212, 213, 214, 215, 216. In addition, RP_ * 241, 242, 243 may be connected to logical joints of APMP_ * 211, 212, 213, 214, 215, 216 and MP_ * 221, 222, 223.

For example, MP _ * (221, 222, 223) may include MP_COMMAND 221, MP_STATUS_SERVO 222 and MP_PARAMETER_SERVO 223, and RP _ * (241, 242, 243) may be RP_COMMAND 241, RP_STATUS 242 and RP_PARAMETER_ROBOT 243.

Again, referring to FIG. 2, hatched portions of each box shown in FIG. 2 are spaces using physical joint numbers, and remaining portions are spaces using logical joint numbers.

For example, the FRAME_TX 231 and FRAME_RX 232 may be connected to the physical joints (hatched portions) of the MP_ * 221, 222, and 223. The MAC_TX 251 and the MAC_RX 252 may be connected to the physical joints of the FRAME_TX 231 and the FRAME_RX 232.

For example, referring to the MP_COMMAND 221, it is shown that logical and physical joints are mapped and physical joints (hatched portions) are grouped. This indicates that if a network node has one or more joints according to the characteristics of the network node, it transmits and receives information of several joints at once. For example, the joint may include two for the L type, four for the V type, and one for the H, BO, and B types, depending on the type of the servo.

Each arrow shown in FIG. 2 represents an operation unit processed by the mast processor. The master processor uses the Background / Foreground method without a separate operating system. Here, in the Background / Foreground method, the main statement is repeatedly executed in the background to monitor the state of the master processor and is executed whenever an event occurs due to an interrupt.

The arrow 260 is used when a user sends and receives a periodic command. The arrow 260 is aperiodic because the user does not always send a periodic command. In addition, when the command is transmitted through the arrow 260, several interrupt service routines may simultaneously operate to lose the unification of information over time. Therefore, interrupts should be disabled for mutual exclusion.

Arrows 271 to 277 are periodically operated regardless of the user's command transmission, and are operated by an interrupt routine by a timer. This is because there is a need to monitor the status of each network node, and it also includes a mechanism for ensuring command delivery.

Arrows 281-286 occur aperiodically whenever the user desires.

The dotted lines 291 to 296 shown in FIG. 2 do not perform the actual operation, but indicate the continuity of the operation. In addition, arrows 260, 271 to 277, and 283 to 286 indicated by thick lines among the arrows shown in FIG. 2 indicate portions in which interrupts must be disabled so that data transfer is not interrupted by an interrupt during data transfer.

The MAC_TX 251 and the MAC_RX 252 have a characteristic in which two interrupt routines are commonly used. Thus, the interrupt priority is high for arrows 276 and 277 and low for arrows 285 and 286.

That is, commands transmitted between the memory areas 211 to 216, 221 to 223, 231, 232, 241 to 243, 251 and 252 shown in FIG. 2 may not be interrupted or prioritized during data transfer. Can be.

The circle next to each box shown in FIG. 2 means that it is used selectively. For example, referring to the APMP_PARAMETER 216, a memory space of "ROBOT0" is currently selected and used among each memory space.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It will be understood that the invention may be varied and varied without departing from the scope of the invention.

1 illustrates an example of a motion network based control system in accordance with the present invention.

2 is a view for explaining a joint mapping method and system of the robot controller according to an embodiment of the present invention.

Claims (5)

In the joint mapping system of the robot controller, A first memory area shared by an application processor and a master processor and used when a user sends a command to the robot controller, the first memory area including a logical joint; A second memory area that is an internal memory space of the master processor and is connected to a logical joint of the first memory area and to which logical and physical joints are mapped; A third memory area connected to a physical joint of the second memory area, shared by the master processor and a media access controller (MAC), and configured to temporarily store a frame by the master processor; A fourth memory area connected to a logical joint of the first memory area and the second memory area and shared by the master processor and the robot processor; And And a fifth memory area connected to the physical joint of the third memory area, the fifth memory area being an internal memory space of the MAC. The method of claim 1, Wherein said application processor is used to execute a program of a user, said master processor processes data transmission to a network, and said robot processor processes control data of a robot. The method of claim 1, The first memory area is, APMP_COMMAND, which is a memory space in which commands that users transmit to joints or robots are stored; APMP_ACK, which is a memory space in which a response by a robot command or a joint command is stored; APMP_STATUS which is a memory space in which the latest information updated in the robot or the joint is stored; Joint mapping system of the robot controller including APMP_PAREMETER which is a memory space for updating or reading the joint or parameters of the robot. The method of claim 3, In the first memory area, The APMP_COMMAND and the APMP_ACK include APMP_COMMAND_C and APMP_ACK_C, which mean commands that are periodically transmitted, and APMP_COMMAND_AC and APMP_ACK_AC, which mean commands that are transmitted periodically. The APMP_PAREMETER is used together with the APMP_COMMAND_AC, and the APMP_COMMAND_AC transmits whether a parameter is changed as a command, and the actual parameter stores data transmitted or received through the APMP_PAREMETER. The method of claim 1, Commands transmitted between the first to fifth memory areas are interrupt generation during the data transfer is impossible or priority is determined joint mapping system of the robot controller.

Images