WO2020215213A1 - Multi-axis motion controller, multi-axis motion control method and system - Google Patents

Abstract

Disclosed are a multi-axis motion controller (10), a multi-axis motion control method and system. The multi-axis motion controller (10) comprises: a motion control module (11) which is adapted to receive a configuration command including the number of joints of a first controlled object and configuration parameters of the first controlled object, determine a motion algorithm library of the first controlled object, corresponding to the number of joints of the first controlled object, and input the configuration parameters of the first controlled object into the motion algorithm library of the first controlled object; a data interaction interface (12) which is adapted to activate a control field of the first controlled object in a predetermined message format according to the number of joints of the first controlled object; and a mapping module (13) which is adapted to establish a first mapping relationship between the activated control field of the first controlled object and a driving physical channel of the first controlled object. The multi-axis motion controller (10), the multi-axis motion control method and system relate to a control mechanism associated with a robot with a configurable number of joints.

Description

Multi-axis motion controller, multi-axis motion control method and system Technical field

This application relates to the field of multi-axis motion, in particular to a multi-axis motion controller, a multi-axis motion control method and system.

Background technique

With the rapid development of electronic technology and software technology, the multi-axis linkage control system is constantly updated. Multi-axis linkage control system has a wide range of applications in industry. Machine tool numerical control systems and robot control systems are all multi-axis linkage control systems.

Multi-axis motion controller is a key component of factory automation system. When applied to an industrial robot scene, the multi-axis motion controller can not only control the robot joints, but also control the auxiliary joints to move in coordination with the robot joints.

In Chinese Patent Publication CN102103372B, a joint module control system of a modular reconfigurable robot is disclosed, which discloses a configurable robot joint for constructing a robot arm.

However, the prior art using this patent document as a typical example all relates to a control mechanism of a robot with a fixed number of joints, but does not disclose a control mechanism related to a robot with a configurable number of joints.

Summary of the invention

In view of this, the main purpose of the embodiments of the present invention is to provide a multi-axis motion controller, a multi-axis motion control method and system.

The technical scheme of the embodiment of the present invention is realized as follows:

Multi-axis motion controller, including:

A motion control module adapted to receive a configuration command including the number of joints of the first controlled object and the configuration parameters of the first controlled object, and determine the first controlled object motion algorithm library corresponding to the number of joints of the first controlled object , Input the first controlled object configuration parameter into the first controlled object motion algorithm library;

A data interaction interface adapted to activate the first controlled object control field in a predetermined message format based on the number of joints of the first controlled object;

The mapping module is adapted to establish a first mapping relationship between the activated first controlled object control field and the first controlled object driven physical channel.

It can be seen that the embodiment of the present invention activates a corresponding number of first controlled object control fields through the configurable number of first controlled object joints, and establishes the activated first controlled object control field and the respective first controlled object drive The first mapping relationship between the physical channels realizes the pre-configuration of the first controlled object with a configurable number of joints.

In one embodiment, the configuration command further includes the number of joints of the second controlled object and the configuration parameters of the second controlled object;

The motion control module is further adapted to determine a second controlled object motion algorithm library corresponding to the number of joints of the second controlled object, and input the second controlled object configuration parameters into the second controlled object Controlled object motion algorithm library;

The data interaction interface is further adapted to activate the second controlled object control field in the predetermined message format based on the number of joints of the second controlled object;

The mapping module is further adapted to establish a second mapping relationship between the activated second controlled object control field and the second controlled object drive physical channel.

It can be seen that the embodiment of the present invention activates a corresponding number of second controlled object control fields through the configurable number of second controlled object joints, and establishes the activated second controlled object control field and the respective second controlled object drive The second mapping relationship between the physical channels realizes the pre-configuration of the second controlled object with a configurable number of joints.

In one embodiment, the motion control module is further adapted to receive a first controlled object execution command, and determine the first controlled object based on the first controlled object execution command and the first controlled object motion algorithm library. Control parameters of the controlled object;

The data interaction interface is further adapted to encapsulate the first controlled object control parameter into the activated first controlled object control field;

The mapping module is further adapted to send the first controlled object control parameter in the activated first controlled object control field to the corresponding first controlled object driver based on the first mapping relationship Physical channel.

Therefore, the multi-axis motion controller of the embodiment of the present invention can support individual motion control of the first controlled object.

In one embodiment, the motion control module is further adapted to receive a second controlled object execution command, and determine the second controlled object based on the second controlled object execution command and the second controlled object motion algorithm library. Control parameters of the controlled object;

The data interaction interface is further adapted to encapsulate the second controlled object control parameter into the activated second controlled object control field;

The mapping module is further adapted to send the second controlled object control parameter in the activated second controlled object control field to the corresponding second controlled object driver based on the second mapping relationship Physical channel.

Therefore, the multi-axis motion controller of the embodiment of the present invention can support individual motion control of the second controlled object.

In one embodiment, the motion control module is further adapted to receive a first controlled object execution command and a second controlled object execution command, based on the second controlled object execution command and the second controlled object execution command The controlled object motion algorithm library determines the second controlled object control parameter, and determines the first controlled object based on the second controlled object control parameter, the execution command of the first controlled object, and the first controlled object motion algorithm library. Object control parameters;

The data interaction interface is further adapted to encapsulate the first controlled object control parameter into the activated first controlled object control field, and encapsulate the second controlled object control parameter into the activated In the second controlled object control field;

The mapping module is further adapted to send the first controlled object control parameter in the activated first controlled object control field to the corresponding first controlled object driver based on the first mapping relationship The physical channel, based on the second mapping relationship, sends the second controlled object control parameter in the activated second controlled object control field to the corresponding second controlled object driving physical channel.

Therefore, the multi-axis motion controller of the embodiment of the present invention can support coordinated motion control of the first controlled object and the second controlled object.

In one embodiment, it further includes:

The command parser is adapted to parse the grammar based on a predetermined command format, and parse the user command received by the human-machine interface into the configuration command, the execution command of the first controlled object, or the execution of the second controlled object command.

Therefore, based on the parsing work of the command parser, the embodiment of the present invention can centrally process configuration commands and execution commands, thereby improving processing efficiency.

Multi-axis motion control methods, including:

Receive a configuration command containing the number of joints of the first controlled object and configuration parameters of the first controlled object, determine the first controlled object motion algorithm library corresponding to the number of joints of the first controlled object, and set the first controlled object The object configuration parameters are input into the first controlled object motion algorithm library;

Activating the first controlled object control field in the predetermined message format based on the number of joints of the first controlled object;

A first mapping relationship between the activated first controlled object control field and the first controlled object drive physical channel is established.

It can be seen that the embodiment of the present invention activates a corresponding number of first controlled object control fields through the configurable number of first controlled object joints, and establishes the activated first controlled object control field and the respective first controlled object drive The first mapping relationship between the physical channels realizes the pre-configuration of the first controlled object with a configurable number of joints.

In one embodiment, the configuration command further includes the number of joints of the second controlled object and the configuration parameters of the second controlled object; the method further includes:

Determining a second controlled object motion algorithm library corresponding to the number of joints of the second controlled object, and inputting the second controlled object configuration parameter into the second controlled object motion algorithm library;

Activating the second controlled object control field in the predetermined message format based on the number of joints of the second controlled object;

A second mapping relationship between the activated second controlled object control field and the second controlled object drive physical channel is established.

It can be seen that the embodiment of the present invention activates a corresponding number of second controlled object control fields through the configurable number of second controlled object joints, and establishes the activated second controlled object control field and the respective second controlled object drive The second mapping relationship between the physical channels realizes the pre-configuration of the second controlled object with a configurable number of joints.

In one embodiment, the method further includes:

Receiving a first controlled object execution command, and determining a first controlled object control parameter based on the first controlled object execution command and the first controlled object motion algorithm library;

Encapsulating the first controlled object control parameter into the activated first controlled object control field;

Based on the first mapping relationship, the first controlled object control parameter in the activated first controlled object control field is sent to the corresponding first controlled object drive physical channel.

Therefore, the embodiments of the present invention can support individual motion control of the first controlled object.

In one embodiment, the method further includes:

Receiving a second controlled object execution command, and determining a second controlled object control parameter based on the second controlled object execution command and the second controlled object motion algorithm library;

Encapsulating the second controlled object control parameter into the activated second controlled object control field;

Based on the second mapping relationship, the second controlled object control parameter in the activated second controlled object control field is sent to the corresponding second controlled object drive physical channel.

Therefore, the embodiments of the present invention can support individual motion control of the second controlled object.

In one embodiment, the method further includes:

Receive the first controlled object execution command and the second controlled object execution command, determine the second controlled object control parameter based on the second controlled object execution command and the second controlled object motion algorithm library, based on the The second controlled object control parameter, the first controlled object execution command, and the first controlled object motion algorithm library determine the first controlled object control parameter;

Encapsulating the first controlled object control parameter in the activated first controlled object control field, and encapsulating the second controlled object control parameter in the activated second controlled object control field;

Based on the first mapping relationship, the first controlled object control parameter in the activated first controlled object control field is sent to the corresponding first controlled object drive physical channel, based on the second mapping relationship , Sending the second controlled object control parameter in the activated second controlled object control field to the corresponding second controlled object drive physical channel.

Therefore, the embodiments of the present invention can support coordinated motion control of the first controlled object and the second controlled object.

The multi-axis motion control system includes the multi-axis motion controller described in any one of the above.

Multi-axis motion controller, including processor and memory;

An application program that can be executed by the processor is stored in the memory to enable the processor to execute the multi-axis motion control method described in any one of the above.

Therefore, the embodiment of the present invention also proposes a multi-axis motion controller with a processor-memory architecture.

The computer-readable storage medium stores therein computer-readable instructions, and the computer-readable instructions are used to execute the multi-axis motion control method described in any of the above.

Description of the drawings

Fig. 1 is a structural diagram of a multi-axis motion controller according to an embodiment of the present invention.

Fig. 2 is a first exemplary structure diagram of a motion control module according to an embodiment of the present invention.

Fig. 3 is a second exemplary structure diagram of a motion control module according to an embodiment of the present invention.

Fig. 4 is an exemplary field structure diagram of a message format according to an embodiment of the present invention.

Fig. 5 is an exemplary processing diagram of a mapping module according to an embodiment of the present invention.

Fig. 6 is an exemplary structure diagram of a multi-axis motion control system according to an embodiment of the present invention.

Fig. 7 is a flowchart of a multi-axis motion control method according to an embodiment of the present invention.

Fig. 8 is a structural diagram of a multi-axis motion controller with a processor-memory architecture.

Among them, the reference signs are as follows:

Label	meaning
10	Multi-axis motion controller
11	Motion control module
12	Data interaction interface
13	Mapping module
110	Robot motion planning module
111	Robot Interpolation Module
112	Robot inverse kinematics mapping module
113	3 joint robot motion algorithm library
114	5-joint robot motion algorithm library
115	6-joint robot motion algorithm library
210	Robot motion planning module
211	Robot Interpolation Module
212	Combining modules
213	Robot inverse kinematics mapping module
214	5-joint robot motion algorithm library
215	6-joint robot motion algorithm library
216	Auxiliary axis motion planning module
217	Auxiliary axis interpolation module
218	Auxiliary axis positive kinematics mapping module
219	2 Joint auxiliary axis motion algorithm library
220	3 joint auxiliary axis motion algorithm library
70	Drive physical channel set
60	HMI
61	Command parser
62	Configuration command
69	Excuting an order
63	Robot joint drive physical channel
64	Robot joint driver
65	Robot joint motor

66	Auxiliary joint drive physical channel
67	Auxiliary joint driver
68	Auxiliary joint motor
610	Robot PTP motion planning module
611	Robot PTP interpolation module
612	Robot Cartesian Motion Planning Module
613	Robot Cartesian Interpolation Module
614	Cooperative motion planning module of robot and auxiliary axis
615	Cooperative interpolation module for robot and auxiliary axis
616	Auxiliary axis motion planning module
617	Auxiliary axis interpolation module
618	Motion algorithm library of robots and auxiliary axes
701～703	step
800	Multi-axis motion controller
801	processor
802	Memory

Detailed ways

In order to make the technical solutions and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to illustrate the present invention, and are not used to limit the protection scope of the present invention.

In order to be concise and intuitive in description, the solution of the present invention is explained below by describing several representative embodiments. A large number of details in the embodiments are only used to help understand the solutions of the present invention. However, it is obvious that the implementation of the technical solution of the present invention may not be limited to these details. In order to avoid unnecessarily obscuring the solution of the present invention, some embodiments are not described in detail, but only a framework is given. Hereinafter, "including" means "including but not limited to", and "according to..." means "at least according to..., but not limited to only according to...". Due to Chinese language habits, when the quantity of a component is not specifically indicated below, it means that the component can be one or more, or it can be understood as at least one.

In the embodiment of the present invention, a corresponding number of first controlled object control fields in a message format containing multiple first controlled object control fields are activated based on the configurable number of first controlled object joints provided by the user , A multi-axis motion controller that supports a configurable first number of controlled object joints and a related multi-axis motion control method is realized.

Preferably, the multi-axis motion controller and the multi-axis motion control method of the embodiment of the present invention can be implemented in a machine tool numerical control system or a robot control system.

For example, when the implementation of the present invention is applied to a robot control system, it can be specifically implemented in industrial robots, agricultural robots, household robots, medical robots, service robots, space robots, underwater robots, military robots, disaster relief robots, education Teaching robots, entertainment robots, etc.

Fig. 1 is a structural diagram of a multi-axis motion controller according to an embodiment of the present invention.

As shown in Fig. 1, the multi-axis motion controller 10 includes:

The motion control module 11 is adapted to receive a configuration command including the first controlled object joint number and the first controlled object configuration parameter, and determine the first controlled object motion algorithm library corresponding to the first controlled object joint number, Input the first controlled object configuration parameter into the first controlled object motion algorithm library;

The data interaction interface 12 is adapted to activate the first controlled object control field in the predetermined message format based on the number of joints of the first controlled object;

The mapping module 13 is adapted to establish a first mapping relationship between the activated first controlled object control field and the first controlled object drive physical channel.

Among them, the first controlled object is the control object of the multi-axis motion controller 10; the first controlled object configuration parameter is the configuration parameter for the first controlled object and is the configuration parameter related to the first controlled object; the configuration command is The command issued by the user, other multi-axis motion controllers and other main bodies to configure the first controlled object.

In one embodiment, the motion control module 11 includes an internal storage medium storing a first controlled object motion algorithm library. The process of the motion control module 11 determining the first controlled object motion algorithm library includes: the motion control module 11 retrieves the first controlled object motion algorithm library from the internal storage medium.

In one embodiment, the motion control module 11 may be connected to an external storage medium storing the first controlled object motion algorithm library. The process of the motion control module 11 determining the first controlled object motion algorithm library includes: based on the connection, the motion control module 11 retrieves the first controlled object motion algorithm library from the external storage medium.

In one embodiment, the motion control module 11 may be connected to the cloud where the first controlled object motion algorithm library is stored. The process of the motion control module 11 determining the first controlled object motion algorithm library includes: based on the connection, the motion control module 11 retrieves the first controlled object motion algorithm library from the cloud.

In one embodiment, the user may provide configuration commands to the multi-axis motion controller 10 through a human machine interface (HMI). Among them: the number of joints of the first controlled object included in the configuration command is used to indicate the number of joints of the first controlled object.

For example, when the first controlled object is a robot: the number of joints of the first controlled object is used to indicate how many joints the robot contains, such as 3 joints, 4 joints, 5 joints or 6 joints, etc.; the first controlled object configuration parameters It can include robot mechanical parameters such as the link length of the robot axis, robot joint driver parameters such as the rated speed of the robot joint driver, and so on.

The multi-axis motion controller 10 determines the first controlled object motion algorithm library corresponding to the first controlled object number of joints based on the first controlled object number of joints included in the configuration command, and sets the first controlled object motion algorithm library included in the configuration command. A controlled object configuration parameter is input into the first controlled object motion algorithm library. After the first controlled object configuration parameter is input into the first controlled object motion algorithm library, the first controlled object motion algorithm library can be used for subsequent various control operations related to the first controlled object.

Moreover, the multi-axis motion controller 10 can establish an activated first controlled object control field by activating a corresponding number of first controlled object control fields in a message format containing multiple first controlled object control fields. The first mapping relationship with the respective first controlled object driving physical channels. Therefore, in the subsequent specific control operation for the first controlled object, the first controlled object control parameter can be accurately sent to the corresponding first controlled object drive physical channel based on the first mapping relationship.

It can be seen that, corresponding to the specific number of joints of the first controlled object, the multi-axis motion controller 10 can implement a corresponding configuration. Preferably, the multi-axis motion controller 10 can not only support the adjustment of the number of joints of the first controlled object, but also support the adjustment of the number of joints of the second controlled object that cooperates with the first object.

Preferably, the first controlled object may be implemented as a robot; the second object may be implemented as an auxiliary axis system including auxiliary joints. Among them, auxiliary joints refer to joints in auxiliary axis systems (for example, servo motion systems) outside the robot body. For example, an auxiliary joint on a positioner, a linear slide or a servo welding clamp machine arranged outside the robot body.

In one embodiment, the configuration command (for example, a configuration command obtained through HMI) further includes the number of joints of the second controlled object and the second controlled object configuration parameters. Among them: the number of joints of the second controlled object included in the configuration command is used to indicate the number of joints of the second controlled object; the second controlled object configuration parameter included in the configuration command is related to the second controlled object Configuration parameters.

For example, when the second controlled object is the auxiliary axis system of the robot, the number of joints of the second controlled object is used to indicate how many joints the auxiliary axis contains, such as 3 joints, 4 joints, 5 joints or 6 joints, etc. The second controlled object configuration parameters may include auxiliary shaft mechanical parameters such as the connecting rod length of the auxiliary shaft, auxiliary shaft driver parameters such as the rated speed of the auxiliary shaft driver, and so on.

The motion control module 11 is also adapted to determine a second controlled object motion algorithm library corresponding to the number of joints of the second controlled object, and input the second controlled object configuration parameters into the second controlled object motion algorithm library. The data interaction interface 12 is also adapted to activate the second controlled object control field in the predetermined message format based on the number of joints of the second controlled object. The mapping module 13 is further adapted to establish a second mapping relationship between the activated second controlled object control field and the second controlled object drive physical channel.

Therefore, the multi-axis motion controller 10 can also determine the second controlled object motion algorithm library corresponding to the second controlled object joint number based on the second controlled object joint number contained in the configuration command, and include it in the configuration command. The second controlled object configuration parameter in the command is input into the second controlled object motion algorithm library. The second controlled object motion algorithm library that inputs the second controlled object configuration parameters can be used for subsequent various control operations related to the second controlled object.

Moreover, the multi-axis motion controller 10 can establish an activated second controlled object control field by activating a corresponding number of second controlled object control fields in the message format containing multiple second controlled object control fields. The second mapping relationship with the respective second controlled object driving physical channels. Therefore, in the subsequent control operation of the second controlled object (preferably, coordinated with the control operation of the first controlled object), the second controlled object control parameters can be accurately sent to the corresponding The second controlled object drives the physical channel.

Taking two controlled objects as an example above, the multi-axis motion controller 10 is described in detail. Those skilled in the art can realize that the specific number of controlled objects may also be 3, 4 or more. The implementation of the present invention The method is not limited.

In one embodiment, the motion control module 11 is further adapted to receive the first controlled object execution command, and determine the first controlled object control parameter based on the first controlled object execution command and the first controlled object motion algorithm library Data interaction interface 12, which is also adapted to encapsulate the first controlled object control parameter into the activated first controlled object control field; the mapping module 13, which is also adapted to convert the first controlled object control parameter based on the first mapping relationship The first controlled object control parameter in the activated first controlled object control field is sent to the corresponding first controlled object driving physical channel.

It can be seen that based on the above configuration, the multi-axis motion controller 10 can support individual motion control of the first controlled object.

In one embodiment, the motion control module 11 is also adapted to receive a second controlled object execution command, and determine the second controlled object control parameter based on the second controlled object execution command and the second controlled object motion algorithm library Data interaction interface 12, which is also adapted to encapsulate the second controlled object control parameters into the activated second controlled object control field; the mapping module 13, which is also adapted to convert the second controlled object control parameters based on the second mapping relationship The second controlled object control parameter in the activated second controlled object control field is sent to the corresponding second controlled object driving physical channel.

It can be seen that based on the above configuration, the multi-axis motion controller 10 can support individual motion control of the second controlled object.

In one embodiment, the motion control module 11 is also adapted to receive the first controlled object execution command and the second controlled object execution command, based on the second controlled object execution command and the second controlled object motion algorithm library Determine the second controlled object control parameter, and determine the first controlled object control parameter based on the second controlled object control parameter, the first controlled object execution command, and the first controlled object motion algorithm library; data interaction interface 12, It is also adapted to encapsulate the first controlled object control parameter into the activated first controlled object control field, and encapsulate the second controlled object control parameter into the activated second controlled object control field; mapping; Module 13, which is also adapted to send the first controlled object control parameter in the activated first controlled object control field to the corresponding first controlled object drive physical channel based on the first mapping relationship, based on the second The mapping relationship sends the second controlled object control parameter in the activated second controlled object control field to the corresponding second controlled object drive physical channel.

It can be seen that based on the above configuration, the multi-axis motion controller 10 can support coordinated motion control of the first controlled object and the second controlled object.

Taking the application of the multi-axis motion controller 10 to a robot control system including a robot (equivalent to a first controlled object) and an auxiliary axis (equivalent to a second controlled object) as an example, the embodiments of the present invention will be described in detail below.

During the configuration process of the multi-axis motion controller 10, the motion control module 11 is adapted to receive configuration commands including the number of robot joints, robot configuration parameters, auxiliary joints, and auxiliary axis configuration parameters, and determine the robot motion corresponding to the number of robot joints. Algorithm library, input the robot configuration parameters into the robot motion algorithm library, determine the auxiliary axis motion algorithm library corresponding to the number of auxiliary joints, and input the auxiliary axis configuration parameters into the auxiliary axis motion algorithm library. The data interaction interface 12 is adapted to activate the corresponding number of robot joint control fields in the predetermined message format based on the number of robot joints, and activate the corresponding number of auxiliary joint control fields in the predetermined message format based on the number of auxiliary joints. The mapping module 13 is adapted to establish a first mapping relationship between the activated robot joint control field and the respective robot joint drive physical channel, and establish the first mapping relationship between the activated auxiliary joint control field and the respective auxiliary joint drive physical channel. Two mapping relationship.

Based on the above configuration process, the multi-axis motion controller 10 can support the individual motion control of the robot, the individual motion control of the auxiliary axis, and the coordinated motion control of the robot and the auxiliary axis.

The case where the multi-axis motion controller 10 is used for the individual motion control of the robot, the individual motion control of the auxiliary axis, and the coordinated motion control of the robot and the auxiliary axis are respectively described below.

(1) The multi-axis motion controller 10 is used for the individual motion control of the robot:

In one embodiment, the motion control module 11 is also adapted to receive (for example, through HMI) robot joint execution commands, based on the robot joint execution commands and the robot motion algorithm library that has input robot configuration parameters and corresponds to the number of robot joints Determine the robot joint control parameters; the data interaction interface 12 is also adapted to encapsulate the robot joint control parameters into the activated robot joint control field; the mapping module 13 is also adapted to convert the activated robot based on the first mapping relationship The robot joint control parameters in the joint control field are sent to the corresponding robot joint drive physical channel.

Wherein, the robot joint execution command may include a point to point (PTP) movement command or a Cartesian motion (for example, linear motion, circular motion) command for the robot joint, and so on.

Specifically, the motion control module 11 performs the following operations:

(1.1). Execute robot motion planning based on the execution of commands of the robot joints (for example, planning the motion time and speed curve of the robot, etc.).

(1.2) Perform interpolation operations on the robot motion planning results (for example, calculate the three-dimensional space position, posture, and rotation angle of the robot at an instant, etc.).

(1.3) Call the robot motion algorithm library corresponding to the number of robot joints and the robot configuration parameters have been entered, and map the interpolation operation result from Cartesian space to axis space (or from axis space to Cartesian space) to generate a robot Joint control parameters.

Preferably, the robot joint control parameters generated by the motion control module 11 may include parameters such as position, speed, and acceleration.

After the motion control module 11 determines the respective robot joint control parameters of each robot joint, the data interaction interface 12 encapsulates the respective robot joint control parameters into the corresponding activated robot joint control fields. Then, the mapping module 13 sends the robot joint control parameters in each activated robot joint control field to the corresponding robot joint driving physical channel based on the first mapping relationship.

It can be seen that the robot joint control parameters of each robot joint can be correctly sent to the corresponding robot joint drive physical channel. Each robot joint drive physical channel sends its respective robot joint control parameters to the corresponding robot joint driver, so that the respective robot joint driver controls their respective robot joint motors based on their own robot joint control parameters, so as to perform robot joint control. command.

Therefore, the multi-axis motion controller 10 can realize individual motion control for the robot, in which the number of robot joints is configurable, so that it can be flexibly applied to various application scenarios.

(2) The multi-axis motion controller 10 is used for the individual motion control of the auxiliary axis:

In one embodiment, the motion control module 11 is also adapted to receive auxiliary joint execution commands, and determine auxiliary joint control parameters based on the auxiliary joint execution commands and auxiliary axis motion algorithm library; the data interaction interface 12 is also adapted to The joint control parameters are encapsulated in the activated auxiliary joint control field; the mapping module 13 is also adapted to send the auxiliary joint control parameters in the activated auxiliary joint control field to the corresponding auxiliary joint drive physics based on the second mapping relationship channel.

Wherein, the auxiliary joint execution command may include a PTP movement command or a Cartesian motion (for example, linear motion, circular motion) command for the auxiliary joint, and so on.

The motion control module 11 determines the auxiliary joint control parameters based on the auxiliary joint execution command and the auxiliary axis motion algorithm library corresponding to the auxiliary joint number and the auxiliary joint configuration parameters have been input.

Specifically, the motion control module 11 performs the following operations:

(2.1), execute auxiliary axis planning based on auxiliary joint execution commands (for example, planning the movement time and speed curve of the positioner, etc.).

(2.2) Perform interpolation (interpolation) operation on the auxiliary axis planning result (for example, calculate the axis space position at the instant).

(2.3). Call the auxiliary axis motion algorithm library corresponding to the number of auxiliary joints and have input auxiliary joint configuration parameters, and map the interpolation operation result from the axis space to the Cartesian space (or from the Cartesian space to the axis space) to Generate auxiliary joint control parameters.

Preferably, the auxiliary joint control parameters generated by the motion control module 11 may include parameters such as position, velocity, and acceleration.

After the motion control module 11 determines the respective auxiliary joint control parameters of each auxiliary joint, the data interaction interface 12 encapsulates the respective auxiliary joint control parameters into respective activated auxiliary joint control fields. Then, the mapping module 13 sends the auxiliary joint control parameters in the activated auxiliary joint control field to the corresponding auxiliary joint driving physical channels respectively based on the second mapping relationship.

It can be seen that the auxiliary joint control parameters of each auxiliary joint can be correctly sent to the corresponding auxiliary joint driving physical channel. Each auxiliary joint drive physical channel sends its auxiliary joint control parameters to the corresponding auxiliary joint driver, so that the respective auxiliary joint driver controls the respective auxiliary joint motor based on its auxiliary joint control parameters, so as to perform auxiliary joint control. command.

Therefore, the multi-axis motion controller 10 can realize individual motion control for the auxiliary axis, in which the number of joints of the auxiliary axis is configurable, so that it can be flexibly applied to various application scenarios.

(3) Multi-axis motion controller 10 is used for coordinated motion control of robot and auxiliary axis:

In one embodiment, the motion control module 11 is further adapted to receive robot joint execution commands and auxiliary joint execution commands, determine auxiliary joint control parameters based on auxiliary joint execution commands and auxiliary axis motion algorithm libraries, and based on auxiliary joint control parameters, The robot joint execution command and the robot motion algorithm library determine the robot joint control parameters; the data interaction interface 12 is also adapted to encapsulate the robot joint control parameters into the activated robot joint control field, and encapsulate the auxiliary joint control parameters into the activated robot joint control field. In the auxiliary joint control field; the mapping module 13 is also adapted to send the robot joint control parameters in the activated robot joint control field to the corresponding robot joint drive physical channel based on the first mapping relationship, based on the second mapping relationship, Send the auxiliary joint control parameters in the activated auxiliary joint control field to the corresponding auxiliary joint drive physical channel.

Among them, the robot joint execution command may include a PTP movement command or a Cartesian motion (for example, linear motion, circular motion) command for the robot joint, and so on. The auxiliary joint execution command may include a PTP movement command or a Cartesian motion (for example, linear motion, circular motion) command for the auxiliary joint in the auxiliary axis, and so on.

The motion control module 11 determines the auxiliary joint control parameters based on the auxiliary joint execution command and the auxiliary axis motion algorithm library corresponding to the auxiliary joint number and the auxiliary joint configuration parameters have been input. The motion control module 11 determines the robot joint control parameters based on auxiliary joint control parameters, robot joint execution commands, and a robot motion algorithm library corresponding to the number of robot joints and input robot joint configuration parameters.

Specifically, the motion control module 11 performs the following operations:

(3.1), execute robot motion planning based on the execution of commands of the robot joints (for example, plan the motion time and speed curve of the robot, etc.), execute auxiliary axis planning based on the execution of commands of the auxiliary joints (for example, plan the motion time and speed of the positioner) Curve, etc.).

(3.2) Perform interpolation (interpolation) operations on the robot motion planning results (for example, calculate the robot's three-dimensional space position, posture, and rotation angle at an instant, etc.), and perform interpolation operations on the auxiliary axis planning results ( For example, calculating the axis space position at the instant of time).

(3.3). Call the auxiliary axis motion algorithm library corresponding to the number of auxiliary joints and input auxiliary joint configuration parameters, and map the interpolation operation result from axis space to Cartesian space (or from Cartesian space to axis space) to Generate auxiliary joint control parameters.

(3.4) Determine robot joint control parameters based on auxiliary joint control parameters, robot joint execution commands, and robot motion algorithm library corresponding to the number of robot joints and input robot joint configuration parameters.

After the motion control module 11 determines the robot joint control parameters of each robot joint and the auxiliary joint control parameters of each auxiliary joint, the data interaction interface 12 encapsulates the respective robot joint control parameters into the respective activated robot joint control fields, and sets each The auxiliary joint control parameters are encapsulated into the respective activated auxiliary joint control fields. Then, the mapping module 13 sends the robot joint control parameters in the activated robot joint control field to the corresponding robot joint drive physical channel based on the first mapping relationship, and based on the second mapping relationship, the activated auxiliary joint control field The auxiliary joint control parameters are sent to the corresponding auxiliary joint drive physical channel. It can be seen that the robot joint control parameters of each robot joint can be correctly sent to the corresponding robot joint driving physical channel, and each robot joint driving physical channel will then send its respective robot joint control parameters to the corresponding robot joint driver. The respective robot joint drivers control their respective robot joint motors based on the robot joint control parameters, so as to implement the robot joint control commands. Moreover, the auxiliary joint control parameters of each auxiliary joint can be correctly sent to the corresponding auxiliary joint driving physical channel. Each auxiliary joint drive physical channel sends the respective auxiliary joint control parameters to the corresponding auxiliary joint driver, so that the respective auxiliary joint driver controls the respective auxiliary joint motors based on the auxiliary joint control parameters, thereby implementing auxiliary joint control commands .

In one embodiment, the multi-axis motion controller 10 may further include a command parser (not shown in FIG. 1). The command parser is adapted to parse the grammar based on a predetermined command format, and parse the user command received by the human-machine interface into the configuration command, the robot joint execution command or the auxiliary joint execution command.

Therefore, the multi-axis motion controller 10 can realize coordinated motion control for the robot and the auxiliary axis, in which the number of robot joints and the number of auxiliary joints of the auxiliary axis are configurable, and it is flexibly applicable to various application scenarios.

The following takes welding work as an example to illustrate the realization of coordinated motion control of the robot and auxiliary axes based on the multi-axis motion controller 10.

It is assumed that the robot as the first controlled object is used to perform welding work, and the weldment has been fixed on the auxiliary axis system (such as a 2-axis positioner) as the second controlled object. Moreover, the welding plan has been determined as follows: the welded part is a steel pipe; along the steel pipe, the weld is a straight line.

The first step: execute the motion planning of the positioner and the robot motion planning. Including: calculating the relevant parameters (such as movement time, speed curve, etc.) of the above-mentioned welding plan by calculating the two axes of the positioner and the relevant parameters (such as movement time, speed curve, etc.) of the robot completing the above-mentioned welding plan.

Step 2: Execute positioner interpolation and robot interpolation. Including: complete the relevant parameters of the above welding scheme based on the two axes of the positioner, and calculate the axis space positions of the two axes of the positioner at the instant of time (for example, in the 0.2 second, the two axes are located at 11 and 16 respectively) degree). Based on the relevant parameters of the robot to complete the above welding plan, calculate the instantaneous time, the robot should move to the three-dimensional space position of the linear weld (for example, (xyz) coordinates and attitude, rotation angle, etc.), that is, the three-dimensional instantaneous welding point Spatial location P1.

Step 3: Execute the positive kinematics processing of the positioner. Including: call the positive kinematics algorithm library of the positioner, input the axis space position of the two axes of the positioner at the instant of time, and calculate the origin coordinate system of the positioner (for example, at the center of the welding tray) in three dimensions The location of the space P2.

The fourth step: the integration of robot welding seam movement and positioner movement. Including: based on the three-dimensional space position P1 of the instantaneous welding point and the three-dimensional space position P2 of the positioner origin coordinate system to obtain the three-dimensional space position of the instantaneous welding point.

Step 5: Inverse kinematics processing of the robot. Including: call the corresponding inverse kinematics algorithm library of the robot, and map the three-dimensional space position of the instant welding point to the axis position of the robot.

The above describes the coordinated motion control process of the multi-axis motion controller 10 on the robot and the auxiliary axis by taking welding work as an example. Those skilled in the art can realize that this description is only exemplary and is not intended to limit the embodiments of the present invention. The scope of protection.

Taking the application of the multi-axis motion controller 10 to a robot control system including a robot (equivalent to the first controlled object) and an auxiliary axis (equivalent to the second controlled object) as an example, the specific structure of the motion control module 11 Exemplary description.

Fig. 2 is a first exemplary structure diagram of a motion control module according to an embodiment of the present invention.

In Figure 2, the motion control module 11 includes: a robot motion planning module 110, a robot interpolation module 111, a robot inverse kinematics mapping module 112, a 3-joint robot motion algorithm library 113, a 5-joint robot motion algorithm library 114, and a 6-joint robot Motion algorithm library 115. The above exemplarily describes the robot motion algorithm library specifically included in the motion control module 11. Those skilled in the art may realize that the motion control module 11 may include any robot motion algorithm library suitable for more or less joints, and the comparison of the embodiments of the present invention is not limited.

It can be seen that the motion control module 11 includes three robot motion algorithm libraries supporting 3-joint robots, 5-joint robots and 6-joint robots respectively. Therefore, the motion control module 11 can support corresponding configurations of 3-joint robots, 5-joint robots, and 6-joint robots. For example, when the motion control module 11 receives a configuration command including the number of robot joints of 5 and the robot configuration parameters, the motion control module first determines that the motion algorithm library corresponding to the number of robot joints (ie 5) is a 5-joint robot motion algorithm Library 114, and then input the robot configuration parameters into the 5-joint robot motion algorithm library 114.

Then, after the motion control module 11 receives the robot joint execution command, the robot motion planning module 110 executes the robot motion planning based on the robot joint execution command. The robot interpolation module 111 is used to perform interpolation operations on the robot motion planning results. The robot inverse kinematics mapping module 112 is used to call the 5-joint robot motion algorithm library 114 corresponding to the number of robot joints and the robot configuration parameters have been input, and to map the interpolation operation result from Cartesian space to axis space (that is, perform inverse kinematics mapping ) To generate robot joint control parameters.

It can be seen that the motion control module shown in FIG. 2 can support the configuration and control of robot joints for 3 joints, 5 joints and 6 joints. In FIG. 2, the motion control module 11 is exemplified by taking robot joints with 3 joints, 5 joints and 6 joints as examples. Those skilled in the art may realize that this description is only exemplary and is not used to limit the protection scope of the embodiments of the present invention. For example, the algorithm library may also include a robot joint motion algorithm library with more or fewer joints.

Fig. 3 is a second exemplary structure diagram of a motion control module according to an embodiment of the present invention.

In Figure 3, the motion control module 11 includes: a robot motion planning module 210, a robot interpolation module 211, a combination module 212, a robot inverse kinematics mapping module 213, a 5-joint robot motion algorithm library 214, and a 6-joint robot motion algorithm library 215 , Auxiliary axis motion planning module 216, auxiliary axis interpolation module 217, 2-joint auxiliary axis motion algorithm library 219, and 3-joint auxiliary axis motion algorithm library 220.

It can be seen that the motion control module 11 includes a robot motion algorithm library supporting 5 joints and 6 joints respectively, and an auxiliary axis motion algorithm library supporting 2 joints and 3 joints respectively. Therefore, the motion control module 11 can support the configuration and control of a robot including 5 joints or 6 joints, and support the configuration and control of auxiliary axes including 2 joints or 3 joints.

For example, when the motion control module 11 receives a configuration command including the number of robot joints is 6, the robot configuration parameters, the number of auxiliary joints is 3, and the auxiliary joint configuration parameters, the motion control module 11 determines the number of joints corresponding to the robot (that is, 6 The motion algorithm library of) is the 6-joint robot motion algorithm library 215, and the robot configuration parameters are input into the 6-joint robot motion algorithm library 215. Moreover, the motion control module 11 determines that the motion algorithm library corresponding to the number of auxiliary joints (ie, 3) is the 3-joint auxiliary axis motion algorithm library 220, and inputs the auxiliary joint configuration parameters into the 3-joint auxiliary axis motion algorithm library 220.

Then, after the motion control module 11 receives the robot joint execution command and the auxiliary joint execution command, the robot motion planning module 210 is used to execute the robot motion planning based on the robot joint execution command. The robot interpolation module 211 is used to perform interpolation operations on the robot motion planning results. The auxiliary axis motion planning module 216 is configured to execute auxiliary axis motion planning based on the auxiliary joint execution command. The auxiliary joint interpolation module 217 is used to perform interpolation operations on the auxiliary axis motion planning. The auxiliary joint positive kinematics mapping module 218 calls the 3-joint auxiliary axis motion algorithm library 220 corresponding to the number of auxiliary joints and has input auxiliary joint configuration parameters, and maps the interpolation operation result of the auxiliary joint interpolation module 217 from the axis space to Cartesian Space (ie, perform positive kinematics mapping) to generate auxiliary joint control parameters. The combining module 212 combines the auxiliary joint control parameters provided by the auxiliary joint positive kinematics mapping module 218 and the interpolation operation result provided by the robot interpolation module 211. The robot inverse kinematics mapping module 213 calls the 6-joint auxiliary axis motion algorithm library 215 corresponding to the number of robot joints and has entered the configuration parameters of the robot joints, and maps the combined result of the combined module 212 from Cartesian space to axis space (that is, performs inverse motion Learn mapping) to generate robot joint control parameters.

In FIG. 3, the motion control module 11 is exemplified by taking a robot supporting 5 joints and 6 joints and supporting auxiliary axes of 2 joints and 3 joints as an example. Those skilled in the art may realize that this description is only exemplary and is not used to limit the protection scope of the embodiments of the present invention.

The above description takes the first controlled object as a robot and the second controlled object as an auxiliary axis system as an example to describe the embodiments of the present invention. Those skilled in the art may realize that this description is also only exemplary and is not used for Limit the protection scope of the embodiments of the present invention. In fact, the embodiments of the present invention can also be applied to a machine tool numerical control system.

Fig. 4 is an exemplary field structure diagram of a message format according to an embodiment of the present invention.

As can be seen from Figure 4, the message format can be divided into two parts. The first part includes: field S1...field Sm...field Sm_max. The first part includes: Field J1...Field Jn...Field Jn_max.

Among them, the first part contains Sm_max first controlled object control fields; the second part contains Jn_max first controlled object control fields. The first controlled object control field is adapted to fill the first controlled object control parameter; the second controlled object control field is adapted to fill the second controlled object control parameter. Each first controlled object control parameter is used to control a joint of the first controlled object, for example, a joint of a robot. Each second controlled object control parameter is used to control a joint of the second controlled object, for example, an auxiliary joint of the auxiliary axis system.

When it is necessary to control the robot without controlling the auxiliary axis, based on the message format shown in Fig. 4, a maximum of Sm_max robot control parameters can be individually encapsulated, and the second part is left blank.

When the auxiliary axis needs to be controlled without controlling the robot, based on the message format shown in Figure 4, a maximum of Jn_max auxiliary axis control parameters can be individually encapsulated, and the first part is left blank.

When the auxiliary axis needs to be controlled and the robot needs to be controlled, based on the message format shown in Figure 4, a maximum of Sm_max robot control parameters and a maximum of Jn_max auxiliary axis control parameters can be encapsulated.

Fig. 5 is an exemplary processing diagram of a mapping module according to an embodiment of the present invention.

It can be seen from FIG. 5 that the mapping module 13 can map each field in the message format to the corresponding driving physical channel in the driving physical channel set 70.

For example, suppose that m first controlled object control parameters are filled between the first controlled object control field S1 and the first controlled object control field Sm, where the first controlled object control parameter in the field S1 is used to control the robot Joint 1, ... the first controlled object control parameter in the field Sm is used to control the robot joint m. Then, the mapping module 13 maps the first controlled object control parameter in the field S1 to the robot joint driving physical channel P1 in the driving physical channel set 70, and the robot joint driving physical channel P1 maps the first controlled object in the field S1 The control parameter is sent to the driving mechanism of the robot joint 1 so that the driving mechanism of the robot joint 1 controls the robot joint 1 based on the first controlled object control parameter in the field S1. The other fields between the field S1 and the field Sm are executed similarly, until the mapping module 13 maps the first controlled object control parameter in the field Sm to the robot joint driving physical channel Pm in the driving physical channel set 70, and the robot joint driving The physical channel Pm sends the first controlled object control parameter in the field Sm to the driving mechanism of the robot joint m, so that the driving mechanism of the robot joint m controls the robot joint m based on the first controlled object control parameter in the field Sm.

For another example, suppose that n second controlled object control parameters are filled between the second controlled object control field J1 and the second controlled object control field Jn, where the second controlled object control parameter in the field J1 is used for control The second controlled object control parameter in the auxiliary joint 1...field Jn is used to control the auxiliary joint n. Then, the mapping module 13 maps the second controlled object control parameter in the field J1 to the auxiliary joint driving physical channel Q1 in the driving physical channel set 70, and the auxiliary joint driving physical channel Q1 maps the second controlled object in the field J1 The control parameter is sent to the driving mechanism of the auxiliary joint 1 so that the driving mechanism of the auxiliary joint 1 controls the auxiliary joint 1 based on the second controlled object control parameter in the field J1. The other fields between the field J1 and the field Jn are executed similarly, until the mapping module 13 maps the second controlled object control parameter in the field Jn to the auxiliary joint driving physical channel Qn in the driving physical channel set 70, and the auxiliary joint driving The physical channel Qn sends the second controlled object control parameter in the field Jn to the driving mechanism of the auxiliary joint n, so that the driving mechanism of the auxiliary joint n controls the auxiliary joint n based on the second controlled object control parameter in the field Jn.

Those skilled in the art may realize that the message format shown in FIG. 4 and the mapping manner shown in FIG. 5 are only typical examples of the implementation of the present invention, and the implementation of the present invention is not limited thereto.

Fig. 6 is an exemplary structure diagram of a multi-axis motion control system according to an embodiment of the present invention.

In FIG. 6, the multi-axis motion controller 10 is connected to the HMI60. The multi-axis motion controller 10 includes a command parser 61, a motion control module 11, a data interaction interface 12 and a mapping module 13. HMI60 receives user commands.

The command parser 61 parses the user command into a configuration command 62 or an execution command 69 based on the specific format of the user command. The execution command 69 includes a robot joint execution command, an auxiliary joint execution command, or a coordinated execution command between the robot joint and the auxiliary joint. Preferably, the robot joint execution commands include robot PTP commands and robot Cartesian motion commands.

When the user command is a configuration command, the motion control module 11 in the multi-axis motion controller 10 determines the robot motion algorithm library and the auxiliary axis motion algorithm library based on the number of robot joints and auxiliary joints in the configuration command, respectively, and combines the robot The configuration parameters are input to the robot motion algorithm library, and the auxiliary axis configuration parameters are input to the auxiliary axis motion algorithm library. The data interaction interface 12 activates the robot joint control field in the predetermined message format based on the number of robot joints in the configuration command, and activates the auxiliary joint control field in the predetermined message format based on the number of auxiliary joints. The mapping module 13 establishes a first mapping relationship between the activated robot joint control field and the robot joint drive physical channel 63, and establishes a second mapping relationship between the activated auxiliary joint control field and the auxiliary joint drive physical channel 66.

The robot PTP motion planning module 610 performs robot PTP motion planning on the robot PTP commands, and the robot joint PTP interpolation module 611 performs interpolation on the robot PTP motion planning result output by the robot PTP motion planning module 610. The robot Cartesian motion planning module 612 performs robot Cartesian motion planning on the robot Cartesian motion commands, and the robot Cartesian interpolation module 613 performs interpolation on the robot motion planning results output by the robot Cartesian motion planning module 612. The auxiliary axis motion planning module 616 performs auxiliary axis motion planning, and the auxiliary joint interpolation module 617 performs interpolation on the auxiliary axis motion plan output by the auxiliary axis motion planning module 616. The coordinated motion planning module 614 of the robot and the auxiliary axis executes motion planning for the coordinated command including the robot execution command and the auxiliary joint execution command, and the coordinated interpolation module of the robot and the auxiliary joint 615 outputs the coordinated motion planning module 614 of the robot and the auxiliary axis The result is interpolation. The motion algorithm library 618 of robot joints and auxiliary joints is used to provide a robot motion algorithm library and auxiliary axis motion algorithm library for other modules in the multi-axis motion controller 10.

The robot joint driver 64 is correspondingly connected to the respective robot joint driving physical channel 63. The robot joint driver 64 controls each connected robot joint motor 65 based on the robot joint control parameters provided by the corresponding robot joint drive physical channel 63. The auxiliary joint driver 67 is correspondingly connected to the respective auxiliary joint driving physical channel 66. The auxiliary joint driver 67 controls the auxiliary joint motors 68 connected to each other based on the auxiliary joint control parameters provided by the corresponding auxiliary joint drive physical channel 66.

Based on the above description, the embodiment of the present invention also proposes a multi-axis motion control method.

Fig. 7 is a flowchart of a multi-axis motion control method according to an embodiment of the present invention.

As shown in Figure 7, the method includes:

Step 701: Receive a configuration command containing the number of joints of the first controlled object and the configuration parameters of the first controlled object, determine the first controlled object motion algorithm library corresponding to the number of joints of the first controlled object, and set the first controlled object The configuration parameters are input into the first controlled object motion algorithm library.

Step 702: Activate the first controlled object control field in the predetermined message format based on the number of joints of the first controlled object.

Step 703: Establish a first mapping relationship between the activated first controlled object control field and the first controlled object driven physical channel.

In one embodiment, the configuration command further includes the number of joints of the second controlled object and the configuration parameters of the second controlled object; the method further includes:

Determine the second controlled object motion algorithm library corresponding to the second controlled object joint number, and input the second controlled object configuration parameters into the second controlled object motion algorithm library; activate the preset based on the second controlled object joint number The second controlled object control field in the message format; establishing a second mapping relationship between the activated second controlled object control field and the second controlled object drive physical channel.

In one embodiment, the method further includes: receiving a first controlled object execution command, determining the first controlled object control parameter based on the first controlled object execution command and the first controlled object motion algorithm library; The controlled object control parameter is encapsulated in the activated first controlled object control field; based on the first mapping relationship, the first controlled object control parameter in the activated first controlled object control field is sent to the corresponding first controlled object The controlled object drives the physical channel.

In one embodiment, the method further includes: receiving a second controlled object execution command, and determining the second controlled object control parameter based on the second controlled object execution command and the second controlled object motion algorithm library; The controlled object control parameter is encapsulated in the activated second controlled object control field; based on the second mapping relationship, the second controlled object control parameter in the activated second controlled object control field is sent to the corresponding second controlled object The controlled object drives the physical channel.

In one embodiment, the method further includes: receiving the first controlled object execution command and the second controlled object execution command, and determining the second controlled object based on the second controlled object execution command and the second controlled object motion algorithm library Object control parameters, determine the first controlled object control parameter based on the second controlled object control parameter, the first controlled object execution command and the first controlled object motion algorithm library; encapsulate the first controlled object control parameter to activated Encapsulate the second controlled object control parameter into the activated second controlled object control field in the first controlled object control field; based on the first mapping relationship, place the activated first controlled object control field in the The first controlled object control parameter of the second controlled object is sent to the corresponding first controlled object drive physical channel, and based on the second mapping relationship, the second controlled object control parameter in the activated second controlled object control field is sent to the corresponding The second controlled object drives the physical channel.

The embodiment of the present invention also proposes a multi-axis motion controller with a processor-memory architecture.

Fig. 8 is a structural diagram of a multi-axis motion controller with a processor-memory architecture.

As shown in FIG. 8, the multi-axis motion controller 800 includes a processor 801 and a memory 802;

The memory 802 stores an application program that can be executed by the processor 801, and is used to make the processor 801 execute the above-mentioned multi-axis motion control method.

Among them, the memory 802 can be specifically implemented as a variety of storage media such as electrically erasable programmable read-only memory (EEPROM), flash memory (Flash memory), and programmable program read-only memory (PROM). The processor 801 may be implemented to include one or more central processing units or one or more field programmable gate arrays, where the field programmable gate array integrates one or more central processing unit cores. Specifically, the central processing unit or central processing unit core may be implemented as a CPU or MCU.

It should be noted that not all steps and modules in the above-mentioned processes and structural diagrams are necessary, and some steps or modules can be ignored according to actual needs. The order of execution of each step is not fixed and can be adjusted as needed. The division of each module is just to facilitate the description of the functional division. In actual implementation, a module can be implemented by multiple modules, and the functions of multiple modules can also be implemented by the same module, and these modules can be located in the same device It can also be located in a different device.

The hardware modules in each embodiment can be implemented in a mechanical or electronic manner. For example, a hardware module may include specially designed permanent circuits or logic devices (such as dedicated processors, such as FPGAs or ASICs) to complete specific operations. The hardware module may also include a programmable logic device or circuit (for example, including a general-purpose processor or other programmable processors) temporarily configured by software to perform specific operations. As for the specific use of a mechanical method, or a dedicated permanent circuit, or a temporarily configured circuit (such as software configuration) to implement the hardware module, it can be determined according to cost and time considerations.

The present invention also provides a machine-readable storage medium that stores instructions for making a machine execute the method described herein. Specifically, a system or device equipped with a storage medium may be provided, and the software program code for realizing the function of any one of the above embodiments is stored on the storage medium, and the computer (or CPU or MPU of the system or device) ) Read and execute the program code stored in the storage medium. In addition, an operating system operating on the computer can also be used to complete part or all of the actual operations through instructions based on the program code. It is also possible to write the program code read from the storage medium to the memory set in the expansion board inserted into the computer or to the memory set in the expansion unit connected to the computer, and then the program code-based instructions make the installation in The CPU on the expansion board or the expansion unit performs part or all of the actual operations, thereby realizing the function of any one of the above-mentioned embodiments.

Implementations of storage media used to provide program codes include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), Magnetic tape, non-volatile memory card and ROM. Alternatively, the program code can be downloaded from the server computer via a communication network.

The above are only the preferred embodiments of the present invention and are not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc., made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (15)

1. The multi-axis motion controller (10) is characterized in that it comprises:

   A motion control module (11), which is adapted to receive a configuration command containing a first controlled object joint number and a first controlled object configuration parameter, and determine the first controlled object corresponding to the first controlled object joint number A motion algorithm library, inputting the first controlled object configuration parameter into the first controlled object motion algorithm library;

   A data interaction interface (12) adapted to activate the first controlled object control field in a predetermined message format based on the number of joints of the first controlled object;

   The mapping module (13) is adapted to establish a first mapping relationship between the activated first controlled object control field and the first controlled object drive physical channel.
2. The multi-axis motion controller (10) according to claim 1, wherein the configuration command further includes the number of joints of the second controlled object and the configuration parameters of the second controlled object;

   The motion control module (11) is further adapted to determine a second controlled object motion algorithm library corresponding to the number of joints of the second controlled object, and input the second controlled object configuration parameters to the In the second controlled object motion algorithm library;

   The data interaction interface (12) is further adapted to activate the second controlled object control field in the predetermined message format based on the number of joints of the second controlled object;

   The mapping module (13) is further adapted to establish a second mapping relationship between the activated second controlled object control field and the second controlled object driven physical channel.
3. The multi-axis motion controller (10) according to claim 1, characterized in that,

   The motion control module (11) is further adapted to receive a first controlled object execution command, and determine the first controlled object based on the first controlled object execution command and the first controlled object motion algorithm library control parameter;

   The data interaction interface (12) is further adapted to encapsulate the first controlled object control parameter into the activated first controlled object control field;

   The mapping module (13) is further adapted to send the first controlled object control parameter in the activated first controlled object control field to the corresponding first controlled object based on the first mapping relationship The control object drives the physical channel.
4. The multi-axis motion controller (10) according to claim 2, characterized in that,

   The motion control module (11) is further adapted to receive a second controlled object execution command, and determine the second controlled object based on the second controlled object execution command and the second controlled object motion algorithm library control parameter;

   The data interaction interface (12) is further adapted to encapsulate the second controlled object control parameter into the activated second controlled object control field;

   The mapping module (13) is further adapted to send the second controlled object control parameter in the activated second controlled object control field to the corresponding second controlled object based on the second mapping relationship The control object drives the physical channel.
5. The multi-axis motion controller (10) according to claim 2, characterized in that,

   The motion control module (11) is also adapted to receive a first controlled object execution command and a second controlled object execution command, based on the second controlled object execution command and the second controlled object movement The algorithm library determines the second controlled object control parameter, and determines the first controlled object control parameter based on the second controlled object control parameter, the first controlled object execution command, and the first controlled object motion algorithm library ；

   The data interaction interface (12) is further adapted to encapsulate the first controlled object control parameter into the activated first controlled object control field, and encapsulate the second controlled object control parameter into In the activated second controlled object control field;

   The mapping module (13) is further adapted to send the first controlled object control parameter in the activated first controlled object control field to the corresponding first controlled object based on the first mapping relationship The controlled object drives the physical channel, and based on the second mapping relationship, sends the second controlled object control parameter in the activated second controlled object control field to the corresponding second controlled object drive physical channel.
6. The multi-axis motion controller (10) according to claim 3, 4 or 5, characterized in that it further comprises:

   The command parser (61) is adapted to parse the grammar based on a predetermined command format, and parse the user command received by the man-machine interface into the configuration command, the execution command of the first controlled object, or the second command The control object executes the command.
7. The multi-axis motion controller (10) according to claim 1, wherein the first controlled object is a robot, and the second controlled object is an auxiliary axis system.
8. The multi-axis motion control method is characterized in that it includes:

   Receive a configuration command containing the number of joints of the first controlled object and configuration parameters of the first controlled object, determine the first controlled object motion algorithm library corresponding to the number of joints of the first controlled object, and set the first controlled object The object configuration parameters are input into the first controlled object motion algorithm library (701);

   Activate the first controlled object control field in the predetermined message format based on the number of joints of the first controlled object (702);

   A first mapping relationship between the activated first controlled object control field and the first controlled object drive physical channel is established (703).
9. The multi-axis motion control method according to claim 8, wherein the configuration command further includes the number of joints of the second controlled object and the configuration parameters of the second controlled object; the method further comprises:

   Determining a second controlled object motion algorithm library corresponding to the number of joints of the second controlled object, and inputting the second controlled object configuration parameter into the second controlled object motion algorithm library;

   Activating the second controlled object control field in the predetermined message format based on the number of joints of the second controlled object;

   A second mapping relationship between the activated second controlled object control field and the second controlled object drive physical channel is established.
10. The multi-axis motion control method of claim 8, wherein the method further comprises:

    Receiving a first controlled object execution command, and determining a first controlled object control parameter based on the first controlled object execution command and the first controlled object motion algorithm library;

    Encapsulating the first controlled object control parameter into the activated first controlled object control field;

    Based on the first mapping relationship, the first controlled object control parameter in the activated first controlled object control field is sent to the corresponding first controlled object drive physical channel.
11. The multi-axis motion control method according to claim 9, wherein the method further comprises:

    Receiving a second controlled object execution command, and determining a second controlled object control parameter based on the second controlled object execution command and the second controlled object motion algorithm library;

    Encapsulating the second controlled object control parameter into the activated second controlled object control field;

    Based on the second mapping relationship, the second controlled object control parameter in the activated second controlled object control field is sent to the corresponding second controlled object drive physical channel.
12. The multi-axis motion control method according to claim 9, wherein the method further comprises:

    Receive the first controlled object execution command and the second controlled object execution command, determine the second controlled object control parameter based on the second controlled object execution command and the second controlled object motion algorithm library, based on the The second controlled object control parameter, the first controlled object execution command, and the first controlled object motion algorithm library determine the first controlled object control parameter;

    Encapsulating the first controlled object control parameter in the activated first controlled object control field, and encapsulating the second controlled object control parameter in the activated second controlled object control field;

    Based on the first mapping relationship, the first controlled object control parameter in the activated first controlled object control field is sent to the corresponding first controlled object drive physical channel, based on the second mapping relationship , Sending the second controlled object control parameter in the activated second controlled object control field to the corresponding second controlled object drive physical channel.
13. The multi-axis motion control system is characterized by comprising the multi-axis motion controller (10) according to any one of claims 1-7.
14. The multi-axis motion controller (800) is characterized by comprising a processor (801) and a memory (802);

    The memory (802) stores an application program executable by the processor (801) for causing the processor (801) to perform the multi-axis motion according to any one of claims 8-12 Control Method.
15. A computer-readable storage medium, wherein computer-readable instructions are stored therein, and the computer-readable instructions are used to execute the multi-axis motion control method according to any one of claims 8-12.

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