SU1228074A1 - Device for controlling robot - Google Patents

Abstract

The invention relates to the field of automation and computer technology, in particular to devices with self-control, and can be used in the design of microprocessor-based industrial robot control systems. The problem of increasing the robustness of the robot controlling the recovery of the robot control process in case of accidental failures in the device with the help of a spy (free software block, and if the microcomputer fails) is solved by emergency stopping the robot due to zeroing of the control signals. The microcomputer programmed into the first memory the device, sequentially polls the robot status sensors through the first group of bus drivers and records the position information of the robot in the second and third memory blocks. the bot is produced with the help of switches connected to the switch inputs of the device, polled also by the microcomputer through the second group of bus drivers. Setting groups for each robot control frame are transmitted from the second and third memory blocks through the register group to the device outputs connected to The management of groups of tire formers, storage blocks and a group of registers is carried out using the first, second and third decryptors. The control of the correct operation of the device is carried out by monitoring the time intervals between the pulses at the outputs of the decoders, for which these pulses are sequentially fed to the reset input of the shift register using a multiplexer controlled by two counters and a comparator. If, as a result, the time intervals increase, then the shift pulses from the pulse generator lead to the appearance at the output of the shift register a signal applied to the interrupt input of the microcomputer. If the failure was accidental, the microcomputer restores the operation of the device. In the event of a failure of the microcomputer, the subsequent shift in the shift register results in the resetting of the group of output registers and blocking by means of the AND entry element of pulses to the shift register. 3 il. (Lu CXD sl

Description

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The invention relates to automation and computing, in particular to devices with self-control, and May be used in the design of microprocessor-based control systems 5 industrial robots.

The aim of the invention is to increase the reliability of the device.

FIG. 1 shows a functional diagram of the device; in fig. 2 - microcomputer structure; in fig. 3 is a flow diagram of the device operation.

The device for controlling the robot contains microcomputer 1, the first storage unit 2, the first group of bus drivers 3, information inputs 4 of the device, inputs 5 of switching the device, the second group of bus drivers 6, the group of registers 7, outputs 8 of the device, first 9, second 10 and third 11 decoders, second 12 and third 13 storage units, first 14 and second 15 counters, comparator 16, multiplexer 17, pulse generator 18, AND 19 element, shift register 20, control bus 21, data bus 22 and device address bar 23 .

Microcomputer 1 contains a microprocessor 24, a generator of 25 clock pulses, a system controller 26. Inputs 4 and outputs 8 of the device are a collection of conductors (lines) and are intended to communicate with the control object — 35 by a robot.

The flowchart of the device operation algorithm contains the blocks PREPARE SETTING and RESTORE SETTING, the outputs of which are connected to the input of the logic block: TRAINING, the YES output of which is connected to the input of the logical block RECORD, the output of YES of which, in turn, is connected INPUT FRAME TO MEMORY, and output 45 is NO with the block INPUT SETTING, the outputs of the last two blocks are connected to the input of the block TRACK THE SETTING, the output of which is connected to the input of the logic unit TEACHING, 50 which NO output is associated with the input logical block FRAME IS TRACKED, the outputs NO and YES of which are connected respectively to the inputs of the OBO30 blocks

frame located in the first storage unit 2.

The device for controlling the robot works as follows.

After power is turned on, microcomputer 1 executes the program block PREPARE SETTING. During the execution of this block, microcomputer I exposes at the outputs of the address the address of the first bus driver of the first group of bus drivers 3. The lower bits of this address are decoded by the first decoder 9, and from its output the enable signal goes to the enabling input of the first bus driver of the first group of bus drivers 3 The higher bits of the address are decoded by the second decoder IO. Then the microcomputer 1 generates a signal at the readout output (THU), which is supplied to the control input of the second decoder 10. As a result, the active level appears at the fourth output of the second decoder 10. This signal will go to the control input of the first bus driver the first group of bus drivers 3. As a result, the signals at the enable and control inputs of the first bus driver of the first group of bus drivers 3 pass through the signals of the position sensor of the robot from inputs 4 to the outputs, from where they blunt via bus 22, data in the micro-computer 1.

Then the microcomputer 1 exposes at its outputs the address of the first cell of block 12 and generates a signal at the output of the record (Sn). The least significant bits of the address provide a sample of the first cell of block 12, and the most significant bits are decoded by the decoder 11, which passes the write signal to the second output. This signal arrives at the input of the record of block 12 and provides a record of the position code from the bus 22 of the data in it.

Then the microcomputer 1 sets at the outputs of the address the address of the first cell of the block 13 and reads the recording signal. As a result, the same information about the position of the robot is also recorded in the first cell of block 13. The recording process proceeds as described, however, the recording signal goes to

WIND SETTING and SELECT THE NEXT FRAME, 55 block 13 in accordance with the address from which the outputs are connected to the input of the third code of the third decoder TRACK THE SETTING. All blocks of the graph P. Then all this process is shown in the program of the program for the rest of the bus bars.

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frame located in the first storage unit 2.

The device for controlling the robot works as follows.

After power is turned on, microcomputer 1 executes the program block PREPARE SETTING. During the execution of this block, microcomputer I exposes at the outputs of the address the address of the first bus driver of the first group of bus drivers 3. The lower bits of this address are decoded by the first decoder 9, and from its output the enable signal goes to the enabling input of the first bus driver of the first group of bus drivers 3 The higher bits of the address are decoded by the second decoder IO. Then the microcomputer 1 generates a signal at the readout output (THU), which is supplied to the control input of the second decoder 10. As a result, the active level appears at the fourth output of the second decoder 10. This signal will go to the control input of the first bus driver the first group of bus drivers 3. As a result, the signals at the enable and control inputs of the first bus driver of the first group of bus drivers 3 pass through the signals of the position sensor of the robot from inputs 4 to the outputs, from where they blunt via bus 22, data in the micro-computer 1.

Then the microcomputer 1 exposes at its outputs the address of the first cell of the block 12 and generates a signal at the output of the record (Sn). The least significant bits of the address provide a sample of the first cell of block 12, and the most significant bits are decoded by the decoder 11, which passes the write signal to the second output. This signal arrives at the input of the record of block 12 and provides a record of the position code from the bus 22 of the data in it.

Then the microcomputer 1 sets at the outputs of the address the address of the first cell of the block 13 and reads the recording signal. As a result, the same information about the position of the robot is also recorded in the first cell of block 13. The recording process proceeds as described, however, the recording signal goes to

rovers-3. As a result, a setpoint will be prepared in blocks 12 and 13 — an array of data describing the position of the robot for each degree of freedom. In addition, when executing the program block PREPARE SETTING microcomputer 1, sets the internal flag Disable interrupt, clears the frame counter located in one of the general purpose registers of microcomputer 1, and performs other preparatory operations. Control is then transferred to the logical unit TRAINING. During the execution of the block, the TEACHING of the microcomputer I interrogates one of the bus drivers of the second group of bus drivers 6, the inputs of which are connected to the switches of the group of switches connected to the switch inputs 5 determining the operation mode of the device: TRAINING or REPRODUCTION. Data reading from tire formers occurs in the same way as this happens when executing the PREPARE SETTLEMENT block. Depending on the position of the switch, control is transferred to the logical unit. RECORDING or FRAME IS TRACKED.

Let the switch be set to the TRAINING position. In this case, the logical block RECORDING is executed in the same way as the TRAINING block, but the information corresponding to the RECORD switch is analyzed in microcomputer 1. If it was not pressed, then control is transferred to block 33 TO FORM A SETTING. In the process of execution of this block, the microcomputer 1 in a manner described performs a sequential interrogation of the second group of bus driver 6 and receives information about the instructions of the operator performing the training. First, the operator's indication of the first degree of mobility of the robot is read. Its essence can be reduced to the following points: Move the degree forward, or Move the degree back, or Stop. Further, microcomputer I exposes at its outputs the address of the first cell of the second storage unit 12, and at the output of reading (Che), the active level. As a result, in the second storage unit 12, a cell is sampled, where the setpoint is stored according to the first degree of mobility of the robot, and at the second output of the second decryptor

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10 appears active potential. The data is set in the first degree of performance via the bus 22, the data is sent to the microcomputer 1. Depending on the instructions of the operator, received by the microcomputer 1 at the previous step, the setpoint will be incremented, decrementing or left unchanged. The setpoint of the microcomputer 1 formed at the direction of the operator records in the second 12 and third 13 storage units. This information is recorded in the same way as described in the execution of the PREPARE SETTLEMENT block. Similarly, the formation of settings is made for the remaining degrees of the mobility of the robot. As a result of the execution of the FORMED SETTLEMENT block in the second 12 and third 13 storage blocks, a new set of settings will be generated for all degrees of the robot mobility (FRAME).

If, when analyzing the status of the RECORD switch, it will be determined in the software logic block RECORD that the operator pressed the switch button, then the control is transferred to the CALL FRAME TO MEMORY. In this case, the operator instructed to remember the next frame of the robot's movement for later reproduction. This is implemented by the microcomputer I by sequentially reading information from block 12 and writing it into the successive cells of block 2. This process is realized by microcomputer 1 by setting the output addresses of the corresponding addresses and generating reading (Ch) and writing (Sn) signals. The read signals go to block 12 from the second output of the decoder 10, and the write signals to block 2 come from the first output of the third decoder 11. During the execution of the program block DRAWN FRAME TO MEMORY, the entire set of settings (FRAME) is copied from block 12 to block 2, and located there after the previously recorded frame.

If during the execution of the previously described program block TRAINING it is found that the switch corresponds to the PLAYBACK mode, then the control is transferred to the FRAME unit is TRACKED. In the process of executing this block, microEsh 1 analyzes the state of the internal flag. End of frame generated in the course of executing the block. UPDATE SETTING.

If the value of the flag is a logical zero, then the control is transferred to the UPDATE SETTLEMENT block, if it is a logical one, then the CHOOSE NEXT FRAME block.

The operation block UPDATE SETTING is completed as follows. Initially, the general purpose register of microcomputer i is incremented, which contains information about the number of the degree of (the mobility of the robot, the setting for which was updated in the previous cycle. If the cycle number is equal to the maximum, then the End of Frame internal flag is set. Then according to the content of this general purpose register, the address is created, at which the setpoint of the specified degree is stored from the new frame in block 2. When microcomputer I accesses block 2, a read signal (THU) is generated, which through the second decoder 10s first Its output is fed to the reading input of block 2, where it polls the cell selected by the address.The contents of the cell are loaded into the microcomputer 1 via data output, which rewrites it into the corresponding cells of blocks 12 and 13. This process occurs as in the PREPARE SETTING block.

The operation unit SELECT THE NEXT FRAME is executed by microcomputer 1 by incrementing the general purpose register in which the frame number is stored. In addition, during the execution of the specified operation block, the internal flag is dropped. End of frame.

All the four operating blocks considered are CENTER FRAME TO MEMORY FORMED SETPOINT, UPDATE SETTING, CHOOSE THE NEXT FRAME transfer control to block 36 FOLLOW SETTING. The main task that this block solves is the formation of such control signals so that the robot moves to the point corresponding to the current setpoint, stored in the second 12 and third 13 memory blocks. This task is solved by the microcomputer 1 sequentially for each degree of mobility by performing the following operations: reading the setpoint for a given degree of mobility from blocks 12 and 13; comparison of d data read from t2 blocks and

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13, in the case of the detection of their inequality (Fault), control is transferred to the RESTORE SETTLEMENT block; entering data on the position of the degree of mobility through the corresponding tire driver of the first group of tire drivers 3; calculation of the error signal between the setpoint and the current position of the corresponding degree of mobility of the robot; the output of the error signal through the corresponding register of the register group 7 to the outputs 8 of the device,

During these operations, microcomputer 1 generates the corresponding address addresses, as well as read (Th) and write (Sn) signals. According to the described operations, the signals from the second and third outputs of the decoder 10 (reading the setpoint), then from the fourth output of the decoder 10 (input of position data) and, finally, from the fourth output of the decoder 11 (output of the error signal) will be generated from these signals.

At the end of the execution of these operations, the microcomputer determines whether the mismatch equals zero; if equal, then a flag (flag) to end tracking in one of the general purpose registers is set; if the mismatch is nonzero, then the flag (flag) is reset.

These operations are repeated for each degree of mobility, which is achieved by the micro-computer I by incrementing the lower-order address bits. After all degrees are served, microcomputer 1 clears the Disable interrupt flag and queries the state of the tracking end flags. If all flags are 1, i.e. the tracking is completed, then the control is transferred to the TRAINING block, if not, the execution of the block TRACKING SETTING is repeated.

Thus, if the device is working properly, the exit of the program from the tracking unit is possible only with full processing of the current values of the device. If the setpoint is distorted, the RESTORE SETPOINT block is initiated.

Microcomputer 1, executed the RESTORE SETTING block, first cocks the flag Prevent clearing and produces

a census of the status data of the position sensors of the robot from the first group of mud shapers 3 into blocks 12 and 13. This is done in the same way as in the PREPARE SETTING block. Therefore, if the information has failed in blocks 12 and 13, it will be resumed by executing the RESTORE SETTLEMENT block and the normal operation of the device can be continued.;

The block diagram of the device operation program shows that its normal operation consists in repeated cyclic reproduction of working blocks, the block TRACKING SETPOINT is repeated in any of four possible cycles, and the execution of the remaining blocks is determined by the position of controls of the group of switches connected to the inputs by the robot position . In view of the finiteness of all the working blocks, the unit CLEAR THE SETPOINT during normal operation of the device must be repeated after a guaranteed period of time. This is necessary to ensure the accuracy of the dynamic parameters of the movement of the robot. If there is a deviation from the normal operation of the device, then it is necessary to restore the software to its normal operation, and in the event of a failure of the microcomputer 1, stop the movement of the robot by issuing zero control signals to the output bus 8.

If the device operates in accordance with the flowchart, then the TRACKING SETTLEMENT block will be periodically executed. Let the first 14 and second 15 counters be in the zeroed state, and the microcomputer 1 starts tracking the number 0. In this case, the code at the lower bits of the outputs of the address of the microcomputer 1 coincides with the code in the second counter 15. This leads to the comparator 16. The signal from the output of the latter enables the multiplexer 17. Because the address inputs of the multiplexer receive the zero code from the output counter 14, the first information input potentially open. Consequently, during the reading of the microcomputer 1 of block 12, a pulse appears at the output of multiplexer 17, which increases by one the contents of the first counter 14. As a result, at the output of multiplex 5

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pa 17 appears impulse when polling microcomputer 1 of block 13, i.e. this time the second information input of the multiplexer 17 will be potentially open this time. The first counter 14 enters the next state.

Next, the polling pulse of the first bus driver of the first group of bus drivers 3 is allocated, followed by a pulse of outputting data to the first register of register groups 7. The latter causes an overflow of the two-bit counter 14 and a counter increment of -15. The state of the latter ensures the allocation of a sequence of pulses corresponding to the processing of data for the next degree of mobility of the robot (the number of the specified degree is contained in the counter 15). This process continues until the end of the execution of the TRACKING SETTING unit, i.e., if the device is functioning normally, then the output of multiplexer I7 shows an uninterrupted sequence of pulses, the maximum interval between which does not exceed the execution time of the longest of the program blocks.

In case of deviations in the operation of the device as a result of a failure or failure, the sequence of signals is disturbed, as a result of which the multiplexer 7 from 1 signal does not allow, and the first 14 and second 15 counters stop. At the output of muL5 typelexer 17 pulses are absent. These pulses cease to arrive at the reset input of the shift register 20, as a result of which it begins to perceive shift pulses from the output of the generator 18 pulses. For normal operation of the device, its period is chosen somewhat longer than the maximum possible time interval between pulses from the output of multiplex 17. 17. The first shift pulse leads to the appearance of a logical unit at the output of the first digit. In this case, no changes in the device layout occur. Second shift pulse

0 from the output of the generator 18 leads to the fact that a single potential appears at the output of the second bit of the shift register 20. results in a signal at the interrupt input

5 micro computers 1. If microcomputer 1 is in good condition and deviations in its operation are caused by failures, then the normal operation of the device is restored by performing

No unit RESTORE SETTLEMENT and transition to a normal operating cycle. In this case, the pulses are resumed at the output of the multiplexer 17 and the shift register 20 is zeroed.

If the microcomputer 1 fails to restore the normal operation of the device, then the pulses at the output of multiplexer 17 do not turn on, and the shift register 20 shifts the information by another bit. The logical unit coming from the third digit of the shift register 20 is affected at the inverse input of the element I 19, whereby the arrival of pulses at the input of the shift register ceases and its state is fixed. In addition, this logical unit is fed to the reset inputs of the group of registers 7. This leads to the installation of zero control signals at the outputs 8 of the device and, therefore, the emergency stop of the robot.

The initial installation of the first 14 and second 15 counters and the shift register 20 is not necessary, since during normal operation of the device, an emergency interruption is prohibited until the end of the first tracking cycle. During the execution of the first tracking cycle, when the address and the desired phase of the process coincide, a pulse appears at the output of multiplexer 17. The first 14 and second 15 counters enter synchronization, and the shift register 20 is reset. A similar situation arises in the process of processing an emergency fault when the state of the first 14 and second 15 counters is arbitrary, and the output of the second bit of the shift register 20 is activated.

Thus, the device performs effective control of the robot with self-control of its main functions.

The use of the device provides a much more reliable operation of the robot, as in the case of a software counter or a distortion of the settings, the device restores the robot control process by executing a special program block RESTORE SETTING. In addition, the device is protected from failures of the microcomputer 1, which is the central element of the system. In case of refusal

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The device provides an emergency stop of the robot due to the zeroing of the control signals arriving at the drives of the robot and causing it to move.

Claims (1)

Claim device A robot control device comprising a microcomputer, the address outputs and data outputs of which are connected respectively to the address bus and the device data bus, the first decoder whose inputs are connected to the device's address bus, and the outputs to the device control bus, the first storage unit, the first and the second groups of bus drivers and a group of registers whose outputs are outputs of the device, and the enabling inputs and enabling inputs of the first and second groups of bus drivers are connected to the bus device, the outputs of the first and second groups of bus drivers, the inputs of the first storage block and information inputs of the register group are connected to the device data bus, the information inputs of the first group of bus drivers are information inputs of the device, and the information inputs of the second group of bus drivers are switching inputs devices, due to the fact that, in order to increase the reliability of the device, the second and third decoders and three storage units are inserted into it, first and second counters, multiplexer, comparator and pulse generator connected in series, element I and shift register, the first output of which is connected to the microcomputer interruption input, second output - with the second inverse input of element I and the register reset inputs; group, register reset input the shift is combined with the counting input of the first counter and connected to the output of the multiplexer, the control input of which is connected to the output of the comparator, and the address inputs to the bit outputs of the first counter, the first inputs Arathor connected to the address bus Device for roystva 5, the second input - to the discharge dnym outputs of the second counter, the first decoder control input connected to the output reading of the microcomputer, the first 0 five 0 five 0 II output - with the read input of the first storage unit, the second output with the read input of the second storage unit and with the first information input of the multiplexer, the third output with the read input TpeTbeiro of the storage unit and the second information input of the multiplexer, the fourth output of the second decoder is connected to the third control input the multiplexer and the control inputs of the first and second groups of bus drivers, the third decoder control input connected to the write output 2807412 microcomputer, first, second and third outputs with recording inputs of the first, second and third storage blocks, respectively, the fourth output 5 of the third decoder is connected to the fourth input of the multiplexer and; to the synchronization inputs of the register group, the address inputs of the second and third decoders and the first , the second 10 and third storage blocks are connected to the address bus of the device, and the outputs of the second and third storage blocks are connected to the device data bus. F -five iBr "L -Sign fput.j f. npepbiSaHUf No (11 reproduction) Compiled by Y. Aparin Editor K. Voloshchuk Tehred I.Popovich KopipeKTop A. Zimokosov Order 2286/48 Circulation 836 Subscription VNIIPI USSR State Committee for inventions and discoveries 113035, Moscow, Zh-35, Raushsk nab., 4/5 Production and printing company, Uzhgorod, Projecto st., 4