CN102837314A - Force/position mixed control method of open type robot controller - Google Patents
Force/position mixed control method of open type robot controller Download PDFInfo
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- CN102837314A CN102837314A CN2011101723339A CN201110172333A CN102837314A CN 102837314 A CN102837314 A CN 102837314A CN 2011101723339 A CN2011101723339 A CN 2011101723339A CN 201110172333 A CN201110172333 A CN 201110172333A CN 102837314 A CN102837314 A CN 102837314A
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Abstract
The invention provides a realization method of force/position mixed control of an open type robot controller. The controller adopts a PC+PMAC (Process Control+Programmable Multi Axis Controller) control structure and two different control modes of servo drivers are utilized to provide a practical force/position mixed control scheme and give specific realization of corresponding hardware and software. The method utilizes a plane three-degree-of-freedom operation hand and the whole operation hand is provided with a movable pair and two rotary pairs. The method disclosed by the invention is suitable for finishing some contact work on the surface of an inner/outer wall of a rotary shell, such as the surface in the shell, which is not subjected to dirt cleaning or grinding. The whole operation handle is driven by three servo motors and the rotary shell is driven by one servo motor, so that four servo motors are arranged.
Description
Technical field
The present invention relates to a kind of method that robot has the ability of power control.Specially refer to the method for a kind of controller power position of this operation being mixed control.
Background technology
Along with robot every field use increasingly extensive, many occasions require robot to have the ability of power control.For example, the precision of robot is assembled, is repaiied and scrape or surface of the work grinding, polishing and scouring etc.In operating process, require to keep its end effector to contact with environment.Accomplish these job tasks, must possess from free sky and ask the empty submissive control ability to power of asking of constraint.
Submissive control is divided into Active Compliance Control and the control of passive compliance property.Deficiencies such as passive compliance control is strongly professional owing to it, and success rate is low are restricted range of application.In order to overcome its deficiency, need adopt Active Compliance Control to robot, i.e. power control.This method adopts the open architecture robot controller based on the PC bus, specifically constructs the open hardware platform of specialized robot with the structure of PC+DSP motion control card, to satisfy the needs of robot power control when accomplishing the contact operation.
Summary of the invention
The objective of the invention is to propose the method that control is mixed in a kind of open architecture robot controller power position, is a kind of a kind of method that combines hardware with software.To special contact operation, the robot in this method is the planar three freedom operator, and the whole operation hand has a moving sets, two revolute pairs.Be applicable in revolving shell or some contact operation of outer wall surface fore-telling completion, as in housing, accomplishing cleaning dirt or ground surface etc.Wherein, the whole operation hand is by three driven by servomotor, and revolving shell is by a driven by servomotor, totally four servomotors.
The method of control is mixed in a kind of open architecture robot controller power position: the formation that comprises open architecture robot controller; It constitutes the implementation pattern by first open architecture robot controller; The control system is a host computer with industrial control computer (IPC), is the control core of system with the DSP control card that is plugged in the IPC mainboard ISA expansion slot.The control model of the two CPU of this kind IPC+PMAC has characteristics such as realization is convenient, powerful, reliability height, is a kind of open control system.Entire controller has adopted modular architecture, and Industrial PC Computer is handled non real-time part, and real-time motion control is born by the DSP motion control card.The DSP motion controller that the control system adopts is I type PMAC eight axis motion control cards of Delta Tan company.PMAC has embodied outstanding open performance and powerful motion control ability from hardware and software.The PMAC card has very strong disposal ability, rail track feature and input bandwidth than the general motion controller, and stronger flexibility is arranged, and can be applicable to multiple bus architecture (PC, STD, VME).
Its concrete function comprises: multi-axis interpolation calculates, the auxiliary PLC of user programmes and the analog data acquisition process.The hardware core of PMAC control card is the DSP56003 digital signal processing chip of Motomla in this method; The servo period single shaft is 55Vs; Can receive various feedback signal from tachometer generator, photoelectric coded disk, grating, rotary transformer, can be compatible with multiple servomotor.The good characteristic of PMAC control card provides good hardware platform for realizing the control of special purpose machinery manpower.
The I type PMAC that this method is used has the external interface of j1 one J8 difference in functionality, can control 1～8.Used four interfaces in this method, (multichannel toggle switch I/O one is connected with ACC one 34AA (annex of PMAC) J3; J5 (general digital input and output) control optocoupler and an auxiliary reclay; J7 (simulation output 5-8 axle) control executing agency and a driving rotational housing; J8 (simulation output 1-4 axle) big arm of control and a forearm motor.Second hardware platform by film stickers machine people constitutes: this method adopts industrial computer IPC, PMAC I type 8 axis motion control cards, two-port RAM (DPRAM), I/O expansion board ACC one 34AA, Panasonic, peace river servomotor and driver quadruplet altogether, one of the interface connecting plate that is used for controlling between them.Its control system constitutes shown in Figure 2, the independently developed interface connecting plate of this method.In the control system, used two annexes of PMAC: 1. DPRAM (Dual port RAM): two-port RAM is ACC one 34AA 2.: multichannel I/O drive plate wherein, DPRAM is the communication bridge between ff ' C and the PMAC as the annex of PMAC.DPRAM can share the high-speed internal memory district between main frame and the PMAC, and through DPRAM, asking of 1PC and PMAC can not have the handshake data exchange easily.DPRAM has the address mapping between main frame (IPC) and PMAC; Internal memory ground II with mapping coupling both sides, this address:, DPRAM is to the assurance of real-time property; Improved the sensitivity of control system, the power error reduces when making operator implement Active Compliance Control, and the power control accuracy increases greatly.
ACC one 34AA also is one of annex of PMAC, and the discrete I/O point that can provide 64 light to isolate divides into groups with 32 words, and 32 input points and 32 output points are arranged.Input point can receive outside input control signal, makes decisions so that go up level controller (PMAC).Output point can be succeeded electric device, finally controls the start-stop PMAC operation back mortar PIc program of ancillary equipment, carries out read-only to ACC one 34AA input and output and only writes through the M variable.
Concrete embodiment
Mix the hardware of control realizes based on PMAC power/position: in order to mix control in the power/position of realizing the robot end; Need the simulation output of PMAc to be operated in respectively under the speed and torque control model of servo-driver, the velocity mode of driver and torque mode are all accepted the analog signal of level controller (PMAC).Wherein, velocity mode be to be the major control index with the control position, and torque mode is to be the major control index with the controlling torque, under torque mode, can in the nominal torque model is hidden, realize permanent torque output.
In order to realize above requirement, the contact operation of operator divides three steps: at first operator arrives preposition and keeps certain attitude under velocity mode, under this pattern, utilizes the Position Control of electric current loop more accurate; Subsequently, servomotor is carried out pattern conversion, forearm vertically lifts under torque mode, and during near housing, the motor of executing agency is in free state to guarantee the good inner walls that depends in executing agency; At last; When mechanism contacts with inner walls endways; Housing rotates; The torque that relies on feedback information to regulate the forearm servomotor makes actuator can keep in touch and control certain contact force all the time with housing, thereby makes robot can under non-structural surface, carry out effective power control, accomplishes the contact operation.
In this method the PMAC motion controller control altogether four-axle linked, but since in the operator big arm, forearm, executing agency to work in respectively under two kinds of different modes, so the axis channel number of the actual PMAC of taking is 7.Under these two kinds of patterns, it is different that drive-side is accepted the input pin of controller instruction, is example with Panasonic's driver, and velocity mode is down with 14,15 pins, and under torque mode with 16,17 pins.
Two axis channel DAC1 one DAC2 (PMAC 43,44) simulation output j receives speed and the torque instruction pin (drive-side 14,16) of servo-driver respectively.The auxiliary connection of axis channel 1 (DAC1) is meant that the feedback relevant with it, driver enable to be connected with report an error, spacing etc., as, CHA1 one CHC1 is the coding disk feedback signal of passage 1 ,+LIMI and-LIM1 be in the other direction with the limit signal of positive direction, AENAI/D1RI is an amplifier enable signal, the enabling of decision servo-driver, other similar pin is at detailed description., PMAC J8 60 pins are arranged, the output of four axles is arranged, and { passage, each output channel have all that a cover is similarly auxiliary to be connected, and each output channel auxiliaryly accordingly connects the joint simulation output of withering according to it, accomplishes servo function.In driver one side, realize two kinds of patterns, need the dummy instruction signal of axle output channel between 14 and 16, to switch; If with an axle output channel; Need between PMAC and driver, oneself build circuit and externally accomplish this switching, it is bad to do real-time like this, and reliability is not high yet., so this method adopts two axis channels of PMAC to realize the servo output of two kinds of patterns of chicken roost driver, does like this and can build external circuit, and 11 guarantee the requirement of real-times.Specific practice is the state that changes C-MODE through the J51 of PMAC.If when controlling two axis channels separately, need that two covers are auxiliary to be connected guaranteeing the servo output of axis channel, but driver in fact.And external switch can only provide a cover axis channel auxiliary connection; This needs the switching of PMAC portion's completion within it output; Through the IX0217 J in the I variable is set, this switching guarantees to have only under the auxiliary prerequisite that connects of a sleeve, and PMAC is to two servo outputs of axis channel.
Software based on PMAC power/position control is realized: The whole control software comprises system management software two parts of real-time control software and host computer.Real-time control software comprises servo-drive, PLC monitoring, data acquisition etc.; The system management software comprises initialization, parameter input, two CPU communication, housing work planning etc.In order to mix control in the power/position of in PMAC, realizing operator, control software with VC++6.0 system for writing and compiling application program, calls among the PMAC completion of the function in the PCOMM32PRO dynamic link libraries to the real-time operation of PMAC at windows platform L simultaneously.
Be provided with and definition below in the initialize routine of PMAC, doing:
#1 one>250000A; Definition forearm motor is rotating shaft A
#3 one>6553.6X; Defining big arm motor is shifting axle x
#5 one>50000B; Defining terminal motor is rotating shaft B
#7 one>c; Definition driving rotational housing motor is rotating shaft C
1102=*; Recover the initial value of motor instruction OPADD 1102
MI one>Y:$I:iil. ' C2,8; Equipment output 1 (J5 of PMAC) is used for the pattern conversion of pattern moment and speed
M162 one>D:$002B; The physical location of motor 1
M168 one>x:$45,8,16, S; The DAC carry-out bit of motor 1
........
Wherein, P1 is the abscissa of position, housing porch, and P2 is the abscissa of housing job position, and P3 is the ordinate of housing job position, and P100 is the moment settings.I102 is a motor instruction OPADD, and I169 is forearm motor D AC export-restriction, and c is for demarcating the forearm angle limit.M162 is storage forearm motor (motor a 1) actual position value in the register.M168 is the calibration value of output torque to DAC.
Claims (3)
1. the method for controlling is mixed in an open architecture robot controller power position: it is characterized in that having comprised the open architecture robot controller implementation pattern; The control system is a host computer with industrial control computer (IPC), is the control core of system with the DSP control card that is plugged in the IPC mainboard ISA expansion slot.The control model of the two CPU of this kind IPC+PMAC has characteristics such as realization is convenient, powerful, reliability height, is a kind of open control system.Entire controller has adopted modular architecture, and Industrial PC Computer is handled non real-time part, and real-time motion control is born by the DSP motion control card.The DSP motion controller that its control system adopts is I type PMAC eight axis motion control cards of DeltaTan company.PMAC has embodied outstanding open performance and powerful motion control ability from hardware and software.The PMAC card has very strong disposal ability, rail track feature and input bandwidth than the general motion controller, and stronger flexibility is arranged, and can be applicable to multiple bus architecture (PC, STD, VME).Its concrete function comprises: multi-axis interpolation calculates, the auxiliary PLC of user programmes and the analog data acquisition process.The I type PMAC that this method is used has the external interface of j1 one J8 difference in functionality, can control 1～8.Used four interfaces in this method, J3 (multichannel toggle switch I/O) is connected with ACC one 34AA (annex of PMAC); J5 (general digital input and output) control optocoupler and an auxiliary reclay; J7 (simulation output 5-8 axle) control executing agency and a driving rotational housing; J8 (simulation output 1-4 axle) big arm of control and a forearm motor.
According to the said open architecture robot controller power of claim 1 position mix control method, it is characterized in that adopting industrial computer IPC, PMAC I type 8 axis motion control cards, two-port RAM (DPRAM), I/O expansion board ACC one 34AA, Panasonic, peace river servomotor and driver quadruplet altogether, one of the interface connecting plate that is used for controlling between them.Its control system constitutes shown in Figure 2; The independently developed interface connecting plate of this method; In the control system; Used two annexes of PMAC: 1. DPRAM (Dualport RAM): two-port RAM, 2. ACC one 34AA: multichannel I/O drive plate wherein, DPRAM is the communication bridge between IPC and the PMAC as the annex of PMAC.DPRAM can share the high-speed internal memory district between main frame and the PMAC, and through DPRAM, asking of 1PC and PMAC can not have the handshake data exchange easily.DPRAM has the address mapping between main frame (IPC) and PMAC; With the assurance of the memory address on mapping coupling both sides, this address, DPRAM to real-time property; Improved the sensitivity of control system, the power error reduces when making operator implement Active Compliance Control, and the power control accuracy increases greatly.ACC one 34AA also is one of annex of PMAC, and the discrete I/O point that can provide 64 light to isolate divides into groups with 32 words, and 32 input points and 32 output points are arranged.Input point can receive outside input control signal, makes decisions so that foretell level controller (PMAC).Such as, accept the input control signal on the control panel in the method.
3. implementation pattern according to claim 2, that its characteristic has comprised open architecture robot controller and film stickers machine people's hardware platform two parts realize.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103302673A (en) * | 2013-05-17 | 2013-09-18 | 东莞市伯朗特自动化科技有限公司 | Control method and system for automated manipulator arm |
| CN104626168A (en) * | 2014-12-16 | 2015-05-20 | 苏州大学 | Robot force position compliant control method based on intelligent algorithm |
| CN104699122A (en) * | 2015-02-12 | 2015-06-10 | 哈尔滨工业大学 | Robot motion control system |
| CN105700465A (en) * | 2014-11-26 | 2016-06-22 | 中国科学院沈阳自动化研究所 | Robot compliance control system and method based on EtherCAT bus |
| CN106272428A (en) * | 2016-09-13 | 2017-01-04 | 江苏大学 | A kind of apple picking robot end effector grasp force Active Compliance Control method |
| CN106335057A (en) * | 2016-09-27 | 2017-01-18 | 东南大学 | Total-space smooth hole insertion control method applied to assembly robot and based on real-time force control |
| CN106695793A (en) * | 2017-01-18 | 2017-05-24 | 宁波韦尔德斯凯勒智能科技有限公司 | Device and method for active compliance control for XYZR four-axis drilling robot |
| CN109202960A (en) * | 2017-06-29 | 2019-01-15 | 精工爱普生株式会社 | Robot controller and robot system |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103302673A (en) * | 2013-05-17 | 2013-09-18 | 东莞市伯朗特自动化科技有限公司 | Control method and system for automated manipulator arm |
| CN105700465A (en) * | 2014-11-26 | 2016-06-22 | 中国科学院沈阳自动化研究所 | Robot compliance control system and method based on EtherCAT bus |
| CN104626168A (en) * | 2014-12-16 | 2015-05-20 | 苏州大学 | Robot force position compliant control method based on intelligent algorithm |
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| CN104699122B (en) * | 2015-02-12 | 2017-03-08 | 哈尔滨工业大学 | A kind of robot movement-control system |
| CN104699122A (en) * | 2015-02-12 | 2015-06-10 | 哈尔滨工业大学 | Robot motion control system |
| CN106272428B (en) * | 2016-09-13 | 2018-10-09 | 江苏大学 | A kind of apple picking robot end effector grasp force Active Compliance Control method |
| CN106272428A (en) * | 2016-09-13 | 2017-01-04 | 江苏大学 | A kind of apple picking robot end effector grasp force Active Compliance Control method |
| CN106335057A (en) * | 2016-09-27 | 2017-01-18 | 东南大学 | Total-space smooth hole insertion control method applied to assembly robot and based on real-time force control |
| CN106335057B (en) * | 2016-09-27 | 2018-12-28 | 东南大学 | A kind of submissive jack control method of the people's total space that puts together machines based on real-time force control |
| CN106695793A (en) * | 2017-01-18 | 2017-05-24 | 宁波韦尔德斯凯勒智能科技有限公司 | Device and method for active compliance control for XYZR four-axis drilling robot |
| CN106695793B (en) * | 2017-01-18 | 2020-04-10 | 宁波韦尔德斯凯勒智能科技有限公司 | Active compliance control device and method for XYZR four-axis drilling robot |
| CN109202960A (en) * | 2017-06-29 | 2019-01-15 | 精工爱普生株式会社 | Robot controller and robot system |
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