Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/16—Programme controls
  • B25J9/1602—Programme controls characterised by the control system, structure, architecture
  • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B19/00—Programme-control systems
  • G05B19/02—Programme-control systems electric
  • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
  • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B19/00—Programme-control systems
  • G05B19/02—Programme-control systems electric
  • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
  • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
  • G05B19/4148—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using several processors for different functions, distributed (real-time) systems
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/33—Director till display
  • G05B2219/33076—Optimize time by parallel execution of independent blocks by two processors
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/33—Director till display
  • G05B2219/33104—Tasks, functions are distributed over different cpu
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/33—Director till display
  • G05B2219/33116—Configuration of motion control
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/34—Director, elements to supervisory
  • G05B2219/34208—Motion controller
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/34—Director, elements to supervisory
  • G05B2219/34287—Plc and motion controller combined
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/34—Director, elements to supervisory
  • G05B2219/34403—RTI real time, kernel, processing
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/40—Robotics, robotics mapping to robotics vision
  • G05B2219/40498—Architecture, integration of planner and motion controller

Definitions

• the invention relates to the field of motion controller and a robot control system using the same, and more particularly to a motion controller implemented using a programmable logic and the robot control system using the same.
• FIG. 1A illustrates architecture of a motion controller for a robot.
• the motion controller 1 includes a processor 10 with only one computing unit that reads and executes program instructions.
• the program instructions executed by the one computing unit of the processor 10 have at least two functions as logic control 100 and motion control 101.
• the process or motion control 101 carries out function of path planning
• the logic control 100 carries out function for responding to external signals, at least to the most important ones, like safety signals. There may be a conflict between the logic control 100 and the motion control 101 for their execution by the one computing unit of the processor 10.
• Figure IB presents the structure of a standard single axis drive of a conventional robot system. On the left side of the isolation, the low power parts are located and on the right side, the high power components.
• motor drive is an important component in the robot control system, such technology has been adapted and there are integrated chips, DSPs or CPUs together with other functions like AD converters, providing necessary solutions. The situation becomes more complex for multi-axes drives, where more computation power and larger number of interfaces is needed.
• the motion controller includes: an information sharing means, being adapted for sharing data representing at least one piece of information; a plurality of function modules, being adapted for exchanging the information between at least two of them by accessing the data through the information sharing means and respectively carrying out a plurality of functions in parallel based on the exchanged information; wherein: the function module receiving the exchanged information is adapted to carry out the function based on the received exchanged information independently of the functions that are simultaneously carried out by the other function modules; the plurality of function modules share at least one processor or programmable logic having a multiple of computing units; and the plurality of function modules are respectively implemented by means of the computing units of the processor or on the programmable logic.
• the control system further includes external the external detector adapted for detecting the robot system status, the drive unit, and the robot having the motor, being adapted for being driven by the drive unit.
• Figure 1 A illustrates architecture of a motion controller for a robot
• Figure 1 B presents the structure of a standard single axis drive of a conventional robot system
• Figure 3 A illustrates a motion controller according to another embodiment of present invention
• Figure 3B illustrates a motion controller according to another embodiment of present invention.
• Figure 4 shows a schematic diagram representing a robot control system according to another embodiment of present invention.
• FIGS 2A and 2B illustrate a motion controller according to an embodiment of present invention.
• a motion controller 2 includes a programmable logic 20.
• the programmable logic may be a field-programmable gate array (FPGA) or application-specific integrated circuit (ASIC).
• FPGA and ASIC provide similar things except that ASIC is more powerful and larger than FPGA, but its development is more expensive and cannot be reprogrammed.
• the programmable logic 20 has a multiple of computing units, for example two computing units 200, 203 as shown in figure 2A, or four computing units 200, 201 , 202, 203 as shown in 2B.
• the computing unit is a unit of logic for carrying out a function and is used as building block within the programmable logic 20.
• Computing unit is a well-defined part of the system that makes use of dedicated resources to provide necessary computation independently and during a well-defined period of time.
• CPU central processing unit
• programmable logic it can be one or a combination of several soft processors or IP-cores.
• the computing units 200, 201, 202, 203 are predefined for implementation of a plurality of function modules 204, 205, 206, 207, for example the function module 205 is of motion control for controlling the motions of the electrical motors of a first robot, the function module 206 is of motion control for controlling the motions of the electrical motors of a second robot, the function module 207 is of motion control for controlling the motions of the electrical motors of a third robot, and the function module 204 is of logic control for robot status and based on the a new robot status information controlling the functions of the motion control module 205 as shown in figure 2A or the motion control modules 205, 206, 207 as shown in figure 2B.
• the function module 205 is of motion control for controlling the motions of the electrical motors of a first robot
• the function module 206 is of motion control for controlling the motions of the electrical motors of a second robot
• the function module 207 is of motion control for controlling the motions of the electrical motors of a third robot
• the predefined computing units 200, 201 , 202, 203 are available either from programmable logic vendors or from developers themselves. For example, either the vendor or the developer can use a PC for programming instructions implementing the function modules 204, 205, 206, 207 and download the program instructions from the PC and wire each of the computing units 200, 201, 202, 203 respectively.
• the computing units 200, 201 , 202, 203 of the programmable logic 2 are predefined by programming before it starts to operate.
• the number of computing units is determined according to the user's requirements, for example the number of functions it is desired to perform.
• computing units 200, 201 as shown in figure 2 A or the computing units 200, 201, 202, 203 as shown in figure 2B being partitioned on the programmable logic 20, the function modules 204, 205 as shown in figure 2A or the function modules 204, 205,
• the motion controller 2 further includes an information sharing means 21 for sharing data representing at least one piece of information to be exchanged by any two of the function modules 204, 205, 206,
• the function modules 204, 205, 206, 207 can access through the infonnation sharing means 21 the data and respectively carry out functions in parallel based on the exchanged information.
• An alternative approach is to use a processor with a multiple of computing units as substitution of the programmable logic.
• the information sharing means 21 may be a memory shared among the function modules 204, 205, 206, 207.
• the memory may be external to the programmable chip 20 or be on-chip memory and if necessary, logic blocks of the programmable chip 20 may be used for implementation of information sharing means 21.
• External memory compares favourably with on-chip memory in larger volume and lower cost. But, external memory is slower in response than on-chip memory.
• the programmable chip 20 and the memory 21 communicate with each other through bus.

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• Engineering & Computer Science (AREA)
• Automation & Control Theory (AREA)
• Physics & Mathematics (AREA)
• Human Computer Interaction (AREA)
• Manufacturing & Machinery (AREA)
• General Physics & Mathematics (AREA)
• Artificial Intelligence (AREA)
• Evolutionary Computation (AREA)
• Fuzzy Systems (AREA)
• Mathematical Physics (AREA)
• Software Systems (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Numerical Control (AREA)
• Manipulator (AREA)

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Cited By (6)

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Citations (4)

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• 2013
  • 2013-01-17 EP EP13871913.3A patent/EP2946253A4/de not_active Withdrawn
  • 2013-01-17 WO PCT/CN2013/070581 patent/WO2014110748A1/en active Application Filing
  • 2013-01-17 CN CN201380069454.8A patent/CN104903800A/zh active Pending

Patent Citations (4)

Non-Patent Citations (1)

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