CN101045297A - Distribution multiple freedom robot controlling system - Google Patents
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- CN101045297A CN101045297A CNA2007100518449A CN200710051844A CN101045297A CN 101045297 A CN101045297 A CN 101045297A CN A2007100518449 A CNA2007100518449 A CN A2007100518449A CN 200710051844 A CN200710051844 A CN 200710051844A CN 101045297 A CN101045297 A CN 101045297A
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Abstract
A distributed control system for one or more multi-freedom robots features that an industrial computer is connected via Ethernet to one or more multi-freedom robot movement plan controllers A, which is connected via CAN-bus to one or more DSP-based modular robot' s individual joint controllers B, and a DC power supply is connected with one or more said controller A and controllers B.
Description
Technical field:
The invention belongs to the Robot Control Technology field.Be specifically related to a kind of distribution multiple freedom robot controlling system.
Background technology:
Robot manipulating task task and operating environment increasingly sophisticated also improves constantly the performance requirement of robot control system.Develop that response speed is fast, extensibility is strong, can remote-operated multiple freedom robot controlling system, become an important research direction.
In the multi-freedom robot motion planning, robot controller and each free degree joint module control driver need carry out a large amount of mathematical computations and exchanges data, as coordinate transform, positive inverse kinematics equation solution, high order interpolation calculating etc.Computing that these are a series of and exchanges data all need adopt processor at a high speed could satisfy the real-time requirement of motion planning control." based on the plug and play mechanical arm system of distributed control " (CN 200410053259.9) adopt 8 single-chip microcomputers to realize the motion planning of mechanical arm is controlled, its operational capability and data-handling capacity are limited, are difficult to satisfy the real-time requirement of motion planning control.
Multiple freedom robot controlling system also should satisfy the characteristics that the construction cycle is short, extensibility is strong and easy to maintenance." a kind of modularization varistructure snake-shaped robot " (ZL 02144565.6) robot is made up of the joint module of a plurality of same structures, main frame and intermediate layer control panel pass through serial communication, control panel is connected with a plurality of bottom servo controllers, this system has modularization, varistructured characteristics, be convenient to processing and manufacturing, debugging, be easy to safeguard and change.But the Position Control in each joint is not to adopt special-purpose motion planning device, but is finished by main control computer, and processing speed is limited, when joint module more for a long time, its autgmentability has been subjected to certain restriction.
In addition, along with the expansion in robot application field, as robot manipulating task under the hazardous environment, local control has been difficult to meet the demands, and robot need possess remote manipulating ability.Adopt hierarchical design from bottom to top, system architecture is (Wang Monan rationally, Sun Lining. the mode of doing more physical exercises Design of control system of mobile robot. the 9th the 4th phase of volume of the .2005 of Electric Machines and Control), but owing to adopt the serial communication mode between host computer and the DSP5410, maximum baud rate is 115200bps, the real-time planning of system is subjected to certain restriction, simultaneously, has also limited the Long-distance Control to robot.Therefore, the flexibility of its communication speed and control remains further to be promoted.
Summary of the invention:
The purpose of this invention is to provide a kind of simple in structure, but response speed is fast, the strong operated from a distance of extensibility, have real time kinematics planning ability, can realize the accurately distribution multiple freedom robot controlling system of control of joint of robot.This control system can be used for the robot control system that industrial robot, mechanical arm, robot for space, humanoid robot etc. have a plurality of free degree modules.
To achieve these goals, technical scheme of the present invention is: adopt the applicant to apply for the patented technology of " a kind of apparatus for controlling movement programming of multi-freedom robot " and the patented technology of " a kind of independent joint control device for modularized robot based on DSP " on the same day, form three grades of dcs of " system+subsystem+module ".
Its concrete technical scheme is: industrial computer is linked to each other with one or more " a kind of apparatus for controlling movement programming of multi-freedom robot " with wired or wireless connected mode by Ethernet; One or more " a kind of apparatus for controlling movement programming of multi-freedom robot " link to each other with one or more " a kind of independent joint control device for modularized robot based on DSP " respectively by CAN-bus.Dc source links to each other with one or more " a kind of independent joint control device for modularized robot based on DSP " with one or more " a kind of apparatus for controlling movement programming of multi-freedom robot " respectively.Wherein:
Described Ethernet wired connection mode is industrial computer or directly links to each other with one " a kind of apparatus for controlling movement programming of multi-freedom robot " or link to each other with a plurality of " a kind of apparatus for controlling movement programming of multi-freedom robot " by router; Ethernet wireless connections mode is that industrial computer links to each other with one or more " a kind of apparatus for controlling movement programming of multi-freedom robot " by router with wireless communication mode.Router or be wireless router or for cable router.
" a kind of apparatus for controlling movement programming of multi-freedom robot " that adopted comprises power transfer module, dsp chip, ethernet controller, ethernet connector, CAN Bussing connector, CAN Bus Interface Chip.The output of power transfer module is connected with dsp chip, ethernet controller, ethernet connector, CAN Bus Interface Chip respectively, dsp chip is connected with ethernet controller, CAN Bus Interface Chip respectively, ethernet controller is connected with ethernet connector, and the CAN Bus Interface Chip is connected with the CAN Bussing connector.Multi-freedom robot motion planning control software is integrated in the dsp chip.
Ethernet connector or directly link to each other or link to each other with industrial computer by router with industrial computer, the CAN Bussing connector links to each other with CAN-bus, and the 24V of power transfer module, COM input link to each other with dc source.
" a kind of independent joint control device for modularized robot based on DSP " that is adopted comprise dc source interface, power conversion unit, dsp chip, information gathering feedback unit, direct current generator, control driver element, self-protection unit, near switch, CAN communication unit.Power conversion unit is respectively with CAN communication unit, dsp chip, information gathering feedback unit, control driver element, self-protection unit, be connected near switch, dc source interface; dsp chip is respectively with CAN communication unit, information gathering feedback unit, control driver element, self-protection unit, be connected near switch; the control driver element is connected with self-protection unit, direct current generator, dc source interface respectively, and the information gathering feedback unit is connected with the direct current arbor.The software program of independent joint control device for modularized robot is integrated in the dsp chip.
The CAN communication unit links to each other with CAN-bus, and the 24V of dc source interface, COM input link to each other with dc source.
The output 24V of the dc source that is adopted is connected with the input 24V of " a kind of independent joint control device for modularized robot based on DSP ", the input 24V of " a kind of apparatus for controlling movement programming of multi-freedom robot " respectively.The output GND of dc source is connected with the input COM of " a kind of independent joint control device for modularized robot based on DSP ", the input COM of " a kind of apparatus for controlling movement programming of multi-freedom robot " respectively.
Workflow of the present invention is: after system starts, at first, comprise initialization to upper industrial computer, router, " a kind of based on network apparatus for controlling movement programming of multi-freedom robot ", " a kind of independent joint control device for modularized robot " based on DSP to each controller initialization of system.Then, judge whether distribution of machine people terminal movement instruction of user, when the user did not have distribution of machine people movement instruction, system was in wait state; After the user is by Ethernet or router distribution of machine people movement instruction, " a kind of based on network apparatus for controlling movement programming of multi-freedom robot " receives industry ethernet information, carry out robot motion planning, and successively each joint motions control instruction of distribution of machine people to the CAN bus, " a kind of independent joint control device for modularized robot based on DSP " receives motion control instruction by the CAN bus, and drive corresponding motor movement, send each joint freedom degrees motor position information simultaneously to the CAN bus." a kind of based on network apparatus for controlling movement programming of multi-freedom robot " receives the independent joint movable information that " a kind of independent joint control device for modularized robot based on DSP " sends by the CAN bus, and calculate the current pose of robot, by Ethernet or router this posture information is sent to upper industrial computer at last.
Owing to adopt technique scheme, " a kind of based on network apparatus for controlling movement programming of multi-freedom robot " receives and resolves robot motion's instruction that industrial computer passes down by the ethernet communication unit, realize the trajectory planning of each free degree module of robot, and by passing the motion control instruction after planning under the CAN bus.
" a kind of independent joint control device for modularized robot based on DSP " receives the motion control instruction that " a kind of based on network apparatus for controlling movement programming of multi-freedom robot " passes down by the CAN bus, the control motor arrives the position of expectation with speed, the acceleration movement of expectation, to guarantee the pose of robot motion to expectation.
" a kind of independent joint control device for modularized robot based on DSP " is exactly in fact an independently intelligent object, integrates power supply, communication, control driving and self-protection.In the face of different job tasks, can easily a plurality of independent joint controls be linked together by connector, form a multi-freedom robot.When environment and task have specific demand, two or more " a kind of based on network apparatus for controlling movement programming of multi-freedom robot " are linked to each other with industrial computer respectively by the wired or wireless mode of Ethernet, a plurality of " a kind of based on network apparatus for controlling movement programming of multi-freedom robot " are connected with a plurality of " a kind of independent joint control device for modularized robot based on DSP " respectively by the CAN bus, can make up multivariant both arms, multi-arm or humanoid robot, have very strong extensibility.
Only need four electric interfaces lines between " a kind of independent joint control device for modularized robot " and " a kind of based on network apparatus for controlling movement programming of multi-freedom robot ": power line 24V, ground connection (GND), CAN control line (CANH and CANL) based on DSP, so simple in structure, make things convenient for degree-of-freedom joint reconstruct and maintenance.
System adopts standard industry computer, standard ethernet, CAN bus communication interface, standard router, Windows NT computer operating system and the programming of Visual C++ standard language, has strengthened opening, portability and the interchangeability of system.
As seen, this control system adopts fabricated structure, is designed to the center with system, is principle with " diversity module design ", and each grade controller task is complete and single.Not only simple in structure, performance is good, the construction cycle is short, cost is low, but and response speed is fast, the strong operated from a distance of extensibility, have the real-time planning ability of motion, can realize that robot accurately controls.Thereby can be widely used in the robot control system that industrial robot, mechanical arm, robot for space, humanoid robot etc. have a plurality of free degree modules.
Description of drawings:
Fig. 1 is a kind of control system schematic diagram of the present invention;
Fig. 2 is the schematic diagram of a kind of Ethernet wired connection mode among Fig. 1;
Fig. 3 is the schematic diagram of a kind of Ethernet wireless connections mode among Fig. 1;
Fig. 4 is the schematic diagram of the Long-distance Control mode of " a kind of based on network apparatus for controlling movement programming of multi-freedom robot " 2 among Fig. 1;
Fig. 5 is the schematic diagram of the local control mode of " a kind of based on network apparatus for controlling movement programming of multi-freedom robot " 2 among Fig. 1;
Fig. 6 is the connection diagram of " a kind of independent joint control device for modularized robot based on DSP " 3 in native system among Fig. 1.
The specific embodiment:
The present invention will be further described below in conjunction with accompanying drawing:
Wired control system of 1 one kinds of distribution multiple freedom robots of embodiment.
This system such as Fig. 1, shown in Figure 5, industrial computer 1 is directly linked to each other with " an a kind of apparatus for controlling movement programming of multi-freedom robot " 2 in the wired connection mode by twisted-pair feeder, and " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 links to each other with a plurality of " a kind of independent joint control device for modularized robot based on DSP " 3 respectively by CAN-bus.Dc source 4 links to each other with a plurality of " a kind of independent joint control device for modularized robot based on DSP " 3 with " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 respectively.
The patented technology of " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 that is adopted comprises power transfer module 6, dsp chip 7, ethernet controller 8, ethernet connector 9, CAN Bussing connector 10, CAN Bus Interface Chip 11 as shown in Figure 5; The output of power transfer module 6 is connected with dsp chip 7, ethernet controller 8, ethernet connector 9, CAN Bus Interface Chip 11 respectively, dsp chip 7 is connected with ethernet controller 8, CAN Bus Interface Chip 11 respectively, ethernet controller 8 is connected with ethernet connector 9, and CAN Bus Interface Chip 11 is connected with CAN Bussing connector 10.Multi-freedom robot motion planning control software is integrated in the dsp chip 7.
CAN Bussing connector 10 links to each other with CAN-bus, and the 24V of power transfer module 6, COM input link to each other with dc source 4.
The patented technology of " a kind of independent joint control device for modularized robot based on DSP " 3 that is adopted comprises dc source interface 12, power conversion unit 13, dsp chip 14, information gathering feedback unit 15, direct current generator 16, control driver element 17, self-protection unit 18, as shown in Figure 6 near switch 19, CAN communication unit 20.Power conversion unit 13 is respectively with CAN communication unit 20, dsp chip 14, information gathering feedback unit 15, control driver element 17, self-protection unit 18, be connected near switch 19, dc source interface 12; dsp chip 14 is respectively with CAN communication unit 20, information gathering feedback unit 15, control driver element 17, self-protection unit 18, be connected near switch 19; control driver element 17 is connected with self-protection unit 18, direct current generator 16, dc source interface 12 respectively, and information gathering feedback unit 15 is connected with 16 in direct current generator.The software program of independent joint control device for modularized robot is integrated in the dsp chip 14.
The output 24V of dc source 4 such as Fig. 5, shown in Figure 6 are connected with the input 24V of " a kind of independent joint control device for modularized robot based on DSP " 3, the input 24V of " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 respectively; The output GND of dc source 4 is connected with the input COM of " a kind of independent joint control device for modularized robot based on DSP " 3, the input COM of " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 respectively.
Wired control system of 2 one kinds of distribution multiple freedom robots of embodiment.
This system such as Fig. 1, Fig. 2, shown in Figure 4, industrial computer 1 is linked to each other with a plurality of " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 in the wired connection mode by router five, and a plurality of " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 link to each other with a plurality of " a kind of independent joint control device for modularized robot based on DSP " 3 respectively by CAN-bus.Dc source 4 links to each other with a plurality of " a kind of independent joint control device for modularized robot based on DSP " 3 with a plurality of " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 respectively.
Connected mode between " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 and " a kind of independent joint control device for modularized robot based on DSP " 3 is with embodiment 1.
The wireless control system of 3 one kinds of distribution multiple freedom robots of embodiment.
This system such as Fig. 1, Fig. 3, shown in Figure 4, industrial computer 1 is linked to each other with one or more " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 in the wireless connections mode by wireless router 5, and one or more " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 link to each other with a plurality of " a kind of independent joint control device for modularized robot based on DSP " 3 respectively by CAN-bus.Dc source 4 links to each other with a plurality of " a kind of independent joint control device for modularized robot based on DSP " 3 with one or more " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 respectively.
Connected mode between " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 and " a kind of independent joint control device for modularized robot based on DSP " 3 is with embodiment 1.
This embodiment adopts fabricated structure, is designed to the center with system, is principle with " diversity module design ", and each grade controller task is complete and single.Not only simple in structure, performance is good, the construction cycle is short, cost is low, but and response speed is fast, the strong operated from a distance of extensibility, have the real-time planning ability of motion, can realize that robot accurately controls.Thereby can be widely used in the robot control system that industrial robot, mechanical arm, robot for space, humanoid robot etc. have a plurality of free degree modules.
Claims (6)
1, a kind of distribution multiple freedom robot controlling system is characterized in that industrial computer 1 is linked to each other with one or more " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 with wired or wireless connected mode by Ethernet; One or more " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 link to each other with one or more " a kind of independent joint control device for modularized robot based on DSP " 3 respectively by CAN-bus;
Dc source 4 links to each other with one or more " a kind of independent joint control device for modularized robot based on DSP " 3 with one or more " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 respectively.
2, distribution multiple freedom robot controlling system according to claim 1 is characterized in that described Ethernet wired connection mode is industrial computer 1 or directly links to each other with " an a kind of apparatus for controlling movement programming of multi-freedom robot " 2 or link to each other with a plurality of " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 by router five; Ethernet wireless connections mode is that industrial computer 1 links to each other with one or more " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 by router five with wireless communication mode.
3, distribution multiple freedom robot controlling system according to claim 2 is characterized in that described router five or for wireless router or for cable router.
4, distribution multiple freedom robot controlling system according to claim 1, it is characterized in that described " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 comprises power transfer module 6, dsp chip 7, ethernet controller 8, ethernet connector 9, CAN Bussing connector 10, CAN Bus Interface Chip 11; The output of power transfer module 6 is connected with dsp chip 7, ethernet controller 8, ethernet connector 9, CAN Bus Interface Chip 11 respectively, dsp chip 7 is connected with ethernet controller 8, CAN Bus Interface Chip 11 respectively, ethernet controller 8 is connected with ethernet connector 9, CAN Bus Interface Chip 11 is connected with CAN Bussing connector 10, and multi-freedom robot motion planning control software is integrated in the dsp chip 7;
Ethernet connector 9 or directly link to each other or link to each other with industrial computer 1 by router five with industrial computer 1; CAN Bussing connector 10 links to each other with CAN-bus; The 24V of power transfer module 6, COM input link to each other with dc source 4.
5, distribution multiple freedom robot controlling system according to claim 1, it is characterized in that described " a kind of independent joint control device for modularized robot based on DSP " 3 comprises, dc source interface 12, power conversion unit 13, dsp chip 14, information gathering feedback unit 15, direct current generator 16, control driver element 17, self-protection unit 18, near switch 19, CAN communication unit 20; Power conversion unit 13 respectively with CAN communication unit 20, dsp chip 14, information gathering feedback unit 15, control driver element 17, self-protection unit 18, near switch 19, dc source interface 12 connects, dsp chip 14 respectively with CAN communication unit 20, information gathering feedback unit 15, control driver element 17, self-protection unit 18, connect near switch 19, control driver element 17 respectively with self-protection unit 18, direct current generator 16, dc source interface 12 connects, information gathering feedback unit 15 is connected with 16 in direct current generator, and the software program of independent joint control device for modularized robot is integrated in the dsp chip 14;
CAN communication unit 20 links to each other with CAN-bus, and the 24V of dc source interface 12, COM input link to each other with dc source 4.
6, distribution multiple freedom robot controlling system according to claim 1 is characterized in that the output 24V of described dc source 4 is connected with the input 24V of " a kind of independent joint control device for modularized robot based on DSP " 3, the input 24V of " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 respectively; The output GND of dc source 4 is connected with the input COM of " a kind of independent joint control device for modularized robot based on DSP " 3, the input COM of " a kind of apparatus for controlling movement programming of multi-freedom robot " 2 respectively.
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| CNA2007100518449A CN101045297A (en) | 2007-04-12 | 2007-04-12 | Distribution multiple freedom robot controlling system |
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| CN101817182A (en) * | 2010-03-30 | 2010-09-01 | 杭州电子科技大学 | Intelligent moving mechanical arm control system |
| CN101953172A (en) * | 2008-02-13 | 2011-01-19 | 塞格瑞德公司 | Distributed multi-robot system |
| CN102248536A (en) * | 2011-06-14 | 2011-11-23 | 武汉科技大学 | Mobile mechanical arm control system used for extendable modularization |
| CN102380698A (en) * | 2011-09-13 | 2012-03-21 | 安徽西锐重工科技有限公司 | Numerical-control plasma power source with multiple plasma cutting torches |
| CN102103372B (en) * | 2009-12-18 | 2013-03-13 | 中国科学院沈阳自动化研究所 | Key module control system of modularization reconfigurable robot |
| CN103025491A (en) * | 2010-05-14 | 2013-04-03 | 史陶比尔法万举 | Method for controlling an automated work cell |
| CN103092153A (en) * | 2012-12-19 | 2013-05-08 | 中国电子科技集团公司第三十四研究所 | Distributed control device of laser device multi-channel optical fiber system |
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| CN106584467A (en) * | 2017-02-28 | 2017-04-26 | 深圳市笨笨机器人有限公司 | Intelligent robot system |
| CN110017859A (en) * | 2018-01-08 | 2019-07-16 | 北京航空航天大学 | Control of Wheeled Mobile Robots system |
| CN110666820A (en) * | 2019-10-12 | 2020-01-10 | 合肥泰禾光电科技股份有限公司 | High-performance industrial robot controller |
| CN110722572A (en) * | 2019-11-15 | 2020-01-24 | 北京云迹科技有限公司 | Data switching device of control system and robot |
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| CN102103372B (en) * | 2009-12-18 | 2013-03-13 | 中国科学院沈阳自动化研究所 | Key module control system of modularization reconfigurable robot |
| CN101817182B (en) * | 2010-03-30 | 2011-08-10 | 杭州电子科技大学 | Intelligent moving mechanical arm control system |
| CN101817182A (en) * | 2010-03-30 | 2010-09-01 | 杭州电子科技大学 | Intelligent moving mechanical arm control system |
| US8965574B2 (en) | 2010-05-14 | 2015-02-24 | Staubli Faverges | Method for controlling an automated work cell |
| CN103025491B (en) * | 2010-05-14 | 2016-02-24 | 史陶比尔法万举 | The method of auto-control working cell |
| CN103025491A (en) * | 2010-05-14 | 2013-04-03 | 史陶比尔法万举 | Method for controlling an automated work cell |
| CN102248536B (en) * | 2011-06-14 | 2013-07-24 | 武汉科技大学 | Mobile mechanical arm control system used for extendable modularization |
| CN102248536A (en) * | 2011-06-14 | 2011-11-23 | 武汉科技大学 | Mobile mechanical arm control system used for extendable modularization |
| CN102380698A (en) * | 2011-09-13 | 2012-03-21 | 安徽西锐重工科技有限公司 | Numerical-control plasma power source with multiple plasma cutting torches |
| CN103092153A (en) * | 2012-12-19 | 2013-05-08 | 中国电子科技集团公司第三十四研究所 | Distributed control device of laser device multi-channel optical fiber system |
| CN103279113A (en) * | 2013-06-27 | 2013-09-04 | 山东大学 | Distributed type control system of hydraulic quadruped robot and control method |
| CN103279113B (en) * | 2013-06-27 | 2015-11-11 | 山东大学 | A kind of distributed hydraulic pressure quadruped robot control system and control method |
| CN104669269A (en) * | 2013-11-26 | 2015-06-03 | 中国科学院沈阳自动化研究所 | Efficient and extensible autonomous control system for high-complexity underwater robot |
| CN106584467A (en) * | 2017-02-28 | 2017-04-26 | 深圳市笨笨机器人有限公司 | Intelligent robot system |
| CN110017859A (en) * | 2018-01-08 | 2019-07-16 | 北京航空航天大学 | Control of Wheeled Mobile Robots system |
| CN110666820A (en) * | 2019-10-12 | 2020-01-10 | 合肥泰禾光电科技股份有限公司 | High-performance industrial robot controller |
| CN110722572A (en) * | 2019-11-15 | 2020-01-24 | 北京云迹科技有限公司 | Data switching device of control system and robot |
| CN114253512A (en) * | 2020-09-22 | 2022-03-29 | 中国科学院沈阳自动化研究所 | AUV control software architecture based on functional autonomous model |
| CN114578781A (en) * | 2020-11-30 | 2022-06-03 | 山东华阳众能动力科技有限公司 | Communication circuit and speed measuring and turbine mechanical control system of rotary mechanical equipment |
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