CN106054845A - Service robot control system based on industrial ethernet - Google Patents
Service robot control system based on industrial ethernet Download PDFInfo
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- CN106054845A CN106054845A CN201610563237.XA CN201610563237A CN106054845A CN 106054845 A CN106054845 A CN 106054845A CN 201610563237 A CN201610563237 A CN 201610563237A CN 106054845 A CN106054845 A CN 106054845A
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- 238000000034 method Methods 0.000 abstract description 7
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- 238000004891 communication Methods 0.000 description 8
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- RTZKZFJDLAIYFH-UHFFFAOYSA-N Diethyl ether Chemical compound CCOCC RTZKZFJDLAIYFH-UHFFFAOYSA-N 0.000 description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/4186—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication by protocol, e.g. MAP, TOP
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a service robot control system based on an industrial ethernet. The service robot control system comprises a motion control system master station which is arranged on a service robot, an EtherCAT interface and multiple slave stations. The motion control system master station is linearly connected with the slave stations in turn through the EtherCAT interface. The unit modules of the slave stations include one or multiple of a rotation intelligent joint module, a linear intelligent joint module, a digital I/O control module, an analog quantity control module and a sensor acquisition module. The method of combination of the EtherCAT industrial ethernet and industrial automatic control is adopted, each motor or information acquisition module acts as a slave station module through EtherCAT topological networking, and free adding and cutting of all the modules can be performed according to the requirements so that flexible combination of different service robots and intelligent control industrial ethernet of different control objects can be realized, fast extensibility of the number of the control objects can be realized through the EtherCAT industrial ethernet, and thus the service robot control system based on the industrial ethernet has the advantages of being networked, intelligent and great in real-time performance.
Description
Technical field
The present invention relates to service robot technical field, particularly relate to a kind of service robot based on EPA
Control system.
Background technology
Along with development and the raising of human civilization degree of society, modern high technology service of goods robot is used to come
Quality of making the life better and life degree of freedom become inexorable trend.
As it is shown in figure 1, existing traditional services robot control system mainly uses tree topology pattern, controller will be with
All of joint motor driver or sensor are attached, and motor control interpolation calculating and the shape of all motors be responsible for by controller
State controls, and controller is responsible for all of sensor information acquisition controlling, is also performed to human-computer interface control, this service robot
System constructing pattern under have some problem following:
1. the core processor of control system needs the highest performance, because he to process all of joint motor interpolation fortune
Calculating, the operand of needs is the biggest；
2., for motor or the sensor of varying number, control system will increase Interface design and wires design, therefore,
Corresponding every a service robot is required for redesigning and making the hardware system of controller；
The most this structure brings substantial amounts of cable to connect, and system reliability is poor, to the space requirement of robot very
Strictly；
4. Mei Kuan robot will carry out the redesign of software, and wherein interpolation operation and the co-operating in each joint is wanted
The designer asking very professional is designed, and software design workload is big, extends very inflexible.
As in figure 2 it is shown, conventional bus is to use the bus such as CAN, PROFIBUS to expand system, use bus handle
Each joint driver and sensor are attached, and this control method solves a system bus difficult problem for a part, simplifies
System complexity, improves system reliability.Motor control interpolation calculating and state control, the control of all motors be responsible for by controller
All of sensor information acquisition controlling is responsible for by device processed.Controller is communicated with user's master control by usb bus.This service
Some problem following is had under the system constructing pattern of robot:
1. the core processor of control system needs the highest performance, because it to process all of joint motor interpolation fortune
Calculating, the operand of needs is the biggest；
2. the highest due to conventional bus transfer rate, and conventional bus is not for the synchronization of motor control particular design
Mechanism, so system is transmitted by a definite limitation for the interpolation data of each shutdown, system response real-time is the highest, data pass
Defeated slowly；
3. Mei Kuan robot will carry out the redesign of software, and wherein interpolation operation and the co-operating in each joint is wanted
The designer asking very professional is designed, and software design workload is big.
Summary of the invention
The technical problem to be solved is: in order to overcome deficiency of the prior art, for lacking clothes on market
Business this present situation of robot control system, in conjunction with service robot compact conformation, inner space is little, movable joint is scattered existing
Shape, controls technology according to robotics, industrial Ethernet technology, Intelligent servo, and the present invention provides a kind of based on industry ether
The service robot control system of net, has the advantages such as networking, intellectuality and real-time are good.
The technical scheme that the present invention solves its technical problem to be taken is: a kind of service-delivery machine based on EPA
People's control system, including the kinetic control system main website being arranged on service robot, EtherCAT interface and several systems
Slave station, described kinetic control system main website is by EtherCAT interface and described system slave station linearly connected successively, each system
Slave station is a unit module, and the unit module of described system slave station includes rotating intelligent switch joint module, straight line intelligent switch joint mould
One or more in block, numeral I/O control module, analog quantity control module and sensor acquisition module, described system slave station
It is respectively provided with the intelligence control system of oneself.
Rotate intelligent switch joint module and straight line intelligent switch joint module mainly have employed collection EtherCAT interface, control module
The Intelligent servo motor being integrated with driving module, such that it is able to by each joint of EtherCAT EPA bus marco
Intelligent servo motor, each intelligent switch joint has the control system of oneself, can be independently according to order execution, it is not necessary to main
Stand interpolation, reduce the performance requirement of control system core processor；EtherCAT EPA is used to connect as main communication
Mouthful, the highest communication speed, up to 100M, accommodates up to slave station articulation mechanism 65535, meets multi-joint service robot to logical
News speed, real-time and the requirement of synchronicity；Each motor or information acquisition module are a slave station module, and each module can root
Carry out freely adding and cutting according to demand, it is achieved the flexible combination of different service robots and the intelligence to different control objects
Control；Each joint and module be connected by EtherCAT bus, it is not necessary to substantial amounts of wiring, reduce the difficulty of wiring,
It is more applicable for the service robot of limited space.
Rotate intelligent switch joint module: rotate intelligent switch joint module integrated intelligence control system, motor, motor-drive circuit,
The part such as decelerator, absolute value encoder, is responsible for controlling joint motor and is rotated according to instruction.
Straight line intelligent switch joint module: straight line intelligent switch joint module integrated intelligence control system, motor, motor-drive circuit,
The part such as decelerator, absolute value encoder, is responsible for controlling joint motor and carries out straight reciprocating motion according to instruction.
Digital I/O module: integrating control unit, can pass through bus line command Gather and input digital signal, and can export
IO measures, and such as, will control the switching signal of several relay and electromagnetic valve, then this module can pass through main website and EPA
The corresponding command transmitted successively performs output function.Such as, outside has the input components and parts such as several proximity switches to be triggered,
Then module passes to main website by bus in time the information of input components and parts.
Analog quantity control module: send master to by bus after processing needing the analog signals gathered to be digitized
Stand, it is possible to become analog output according to the digital signal that main website sends through D/A conversion.
Sensor acquisition module: integrated conventional robot sensor and control system, signal acquiring system etc., such as:
Acceleration transducer, piezoelectric transducer, infrared sensor, ultrasonic sensor, laser range sensor, Temperature Humidity Sensor,
Light-sensitive array sensor, baroceptor etc..
System expansion module: for the functional module being temporarily not directed to, it is soft that this system leaves standard hardware interface, standard
Part agreement, the later stage can make system have good autgmentability according to the new module seamless connecting system of Application Design.
Subsystem master station module: this module is the slave station module of main system, but is the most additionally integrated with a set of
The main website hardware interface of EPA, he can down extend and connect oneself slave station module a set of, such design pattern
Increasingly complex multistage EPA system can be built.Make system expanded function more powerful.
Further, the unit module of described system slave station also includes subsystem main website, and described subsystem main website passes through
EtherCAT interface and subsystem slave station linearly connected successively, each subsystem slave station is a unit module, described subsystem
The unit module of slave station includes rotating intelligent switch joint module, straight line intelligent switch joint module, numeral I/O control module, analog quantity control
One or more in molding block and sensor acquisition module.Subsystem can be set under main system, can directly use master
The slave station of system, as the main website of subsystem, is controlled each slave station of subsystem, it is achieved modular management by subsystem main website.
Further, described rotation intelligent switch joint module, straight line intelligent switch joint module, numeral I/O control module, analog quantity control
In molding block and sensor acquisition module, the quantity of same unit module is one or more.
Further, the unit module of described system slave station and described subsystem slave station also includes system expansion module, described
The quantity of system expansion module is one or more.
Further, described kinetic control system main website and described subsystem main website are provided with and are stored in FLASH memory
Motion control software storehouse, described motion control software storehouse includes the management of motor control function library, control protocol, intelligent diagnostics system
System, Information Collecting & Processing and EtherCAT EPA telecommunication management.By built in motion control software library complete conventional and
The Multi-axis motion control algorithm of ad hoc structure service robot, secondary development person can be by calling software library motor control function
Interface can complete the motor control design of complexity.Motion control software storehouse can constantly be expanded, free cutting.Pass through software library
Design can save the amount of labour and the design time of service robot developer in a large number, also reduce the specialty of developer simultaneously
Technology requirement, it is not necessary to developer carries out mathematical modeling and the software design of complexity.
Further, also including power module, described power module provides working power for whole control system.
According to the forms of motion of service robot, rotary type Intelligent servo motor is used, for directly for the joint rotated
The end effector of line motion uses orthoscopic Intelligent servo motor, rotary type Intelligent servo motor and orthoscopic Intelligent servo electricity
Machine is all the Intelligent servo motor integrating motor, driver, drive disk assembly, detecting element and controller, has integrated level
Height, compact conformation, the advantage such as intelligent and easy to use.
Further, described rotation intelligent switch joint module includes rotary type Intelligent servo motor, described rotary type Intelligent servo
Motor includes integrating control module, driving module and integration driving motor in enclosure interior, described integration transmission
Motor is respectively arranged at two ends with actively output shaft and driven output shaft, and described active output shaft stretches out from shell one end, described driven
Output shaft stretches out from the housing other end, and described control module is positioned at above described driving module, and described control module is with described
Module is driven up and down slotting connection to be formed an entirety and be fixed on the housing of described integration driving motor side.
Further, described straight line intelligent switch joint module includes orthoscopic Intelligent servo motor, described orthoscopic Intelligent servo
Motor includes that ball-screw and decelerator, described ball-screw are connected with the output shaft one of described decelerator.
Kinetic control system uses EtherCAT EPA interface, has networking, intellectuality, real-time etc. excellent
Point, and realize the quick exploitation to service robot by the motion control software storehouse of exploitation, the highest communication speed up to 100M,
At most can accommodate slave station articulation mechanism 65535.Kinetic control system passes through EtherCAT Industrial Ethernet Control service-delivery machine
Each moving component of people, completes sensor data acquisition.User calls intelligent motion control software library function by custom system
Interface realizes the parameter to service robot, kinetic control system and moving cell and arranges and status monitoring, and to motion control
System transmitting control commands processed, it is corresponding each Intelligent servo motor and control that kinetic control system receives command analysis after order
The motion of molding block, and completed each Intelligent servo motor by EtherCAT EPA according to the control parameter set
And the control of control module.In robot work process, Intelligent servo motor and control module are by EtherCAT industry ether
Net in real time actively to kinetic control system feed back motion state and parameter.By sensing based on EtherCAT EPA
Device acquisition module completes connection and the application at sensor common to service robot such as inclination angle, acceleration, ultrasonic, range finding etc..
The invention has the beneficial effects as follows: a kind of based on EPA the service robot that the present invention provides controls system
System, the method using EtherCAT EPA to combine with industry automatic control, utilize EtherCAT topologic network, each
Motor or information acquisition module are a slave station module, and each module can carry out freely adding and cutting according to demand, it is achieved no
With the flexible combination of service robot and the Based Intelligent Control to different control objects and real by EtherCAT EPA
Existing the most expansible of control object quantity has the advantages such as networking, intellectuality and real-time are good；
Various exemplary service robots control object is sorted out, the control object of different service robots is returned
One change processes, and is encapsulated as different types of standard control object；Different types of service robot motor control is carried out abstract,
Set up its Motion Controlling Model, control functional tree, parameter tree, develop service robot intelligent motion control software letter based on this
Number storehouse, uses intelligent control software storehouse to realize variety classes service robot on same set of hardware platform and controls, and the suitability is wide.
Accompanying drawing explanation
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the principle schematic of tree topology Mode Robot control system；
Fig. 2 is the principle schematic of CAN robot control system；
Fig. 3 is the principle schematic of preferred embodiment；
The principle schematic of Tu4Shi system main website；
Fig. 5 is the principle schematic of system slave station.
Detailed description of the invention
Presently in connection with accompanying drawing, the present invention is described in detail.This figure is the schematic diagram simplified, and illustrates the most in a schematic way
The basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
As it is shown on figure 3, a kind of based on EPA the service robot control system of the present invention, including power module
And system main website, EtherCAT interface and several system slave stations being arranged on service robot, power module is whole
The various piece of control system provides working power, can provide different power supply according to different modules；System main website passes through
Usb bus is connected with service robot custom system, and custom system is realized the system main website to service robot by user program
Control on Communication and peripheral function control, system main website is by EtherCAT interface and described system slave station linearly connected successively.
System main website integrated motion control software storehouse, motion control software library storage, in FLASH memory, is responsible for system slave station list
The communication of element module and control, motion control software storehouse includes the management of motor control function library, control protocol, intelligent diagnostics system
System, Information Collecting & Processing, EtherCAT EPA telecommunication management, motor drive computing, position feedback op, modular diagnostic
System, described system slave station is respectively provided with the intelligence control system of oneself.
System slave station implements the functions such as motion and the sensor acquisition of joint module, and each system slave station is a list
Element module, the unit module of system slave station includes rotating intelligent switch joint module, straight line intelligent switch joint module, numeral I/O control mould
One or more in block, analog quantity control module, sensor acquisition module, subsystem main website and system expansion module, system
The quantity of middle same unit module is one or more.
Subsystem main website is by EtherCAT interface and subsystem slave station linearly connected successively, and each subsystem slave station is also
One unit module, the unit module of described subsystem slave station includes rotating intelligent switch joint module, straight line intelligent switch joint module, number
One or more in word I/O control module, analog quantity control module, sensor acquisition module and system expansion module, subsystem
System slave station can also extend the sub-control system of next stage, be extended step by step, the number of same unit module in subsystem
Amount is also one or more.
System slave station and subsystem slave station not only include said units module, it is also possible to include other kinds of unit mould
Block, can be according to customer demand arbitrary extension.
As shown in Figure 4, system main website uses the system hardware and software mode of embedded system platform ARM+LIUNX to build, main
The EPA that communication is EtherCAT standard between slave station, prevailing transmission controls data, each axle interpolation data, intelligence biography
The information such as sensor information gathering, system main website and custom system carry out real-time, interactive by usb bus, real-time according to user command
Carrying out motor control calculating, link each joint motor, to reach the athletic posture of requirement, trajectory planning, and the merit such as speed controlling
Energy.
System main website, in addition to completing the functions such as communication, is mainly integrated with motion control software library facility, provides the user with
The one-stop solution of various structures service robot, user has only to operate software library function interface by agreement,
Complete the robot multi-joint control of complexity.Robotic master station completes robot motion, this mode from each motor of primal coordination
Under, all computings of robot system complete independently, liberate the workload of open personnel, when decreasing the exploitation of service robot
Between.
System main website is additionally provided with power management and powers for being connected as system main website with external power source.
As it is shown in figure 5, system slave station uses ARM embedded system platform as control core, economize on electricity for different passes
The unit such as the decelerator of the integrated corresponding requirement of machine, motor driven systems, encoder.System slave station is according to the concrete control of system main website
System and data command Real Time Drive motor carry out corresponding actions.System slave station can feed back to the fortune of system main website self in time
Row state, carries out intelligent diagnostics for system main website to robot system.
Communicating with EtherCAT EPA between master-salve station, the lock in time of each slave station module is less than 1us, it is ensured that
The real-time of many shutdown robot interpolation operation, uses linear topology pattern simultaneously so that the wiring of each joint abnormal simple, can
Lean on.Under EtherCAT standard, the quantity of slave station can freely increase and reduce, and system extension has considerable flexibility, is
System slave station is also integrated with software library, mainly includes that motor drives computing, position feedback processing, ethernet communication management and module to examine
Disconnected system etc..
System slave station is additionally provided with power management and powers for being connected as system main website with external power source.
Rotate intelligent switch joint module and include that rotary type Intelligent servo motor, described rotary type Intelligent servo motor include one
Being integrated in the control module of enclosure interior, drive module and integration driving motor, described integration driving motor two ends are respectively
Being provided with actively output shaft and driven output shaft, described active output shaft stretches out from shell one end, and described driven output shaft is from housing
The other end stretches out, and described control module is positioned at above described driving module, and described control module is upper and lower with described driving module
Slotting connection is formed an entirety and be fixed on the housing of described integration driving motor side.
Straight line intelligent switch joint module includes that orthoscopic Intelligent servo motor, described orthoscopic Intelligent servo motor include ball
Leading screw and decelerator, described ball-screw is connected with the output shaft one of described decelerator.
With the above-mentioned desirable embodiment according to the present invention for enlightenment, by above-mentioned description, relevant staff
Various change and amendment can be carried out completely without departing from the scope of the present invention.The technical scope of this invention is not
The content being confined in description, it is necessary to determine its technical scope according to right.
Claims (8)
1. a service robot control system based on EPA, it is characterised in that: include being arranged on service robot
On kinetic control system main website, EtherCAT interface and several system slave stations, described kinetic control system main website passes through
EtherCAT interface and described system slave station linearly connected successively, each system slave station is a unit module, described unit mould
Block includes rotating intelligent switch joint module, straight line intelligent switch joint module, numeral I/O control module, analog quantity control module and sensing
One or more in device acquisition module, described system slave station is respectively provided with the intelligence control system of oneself.
2. service robot control system based on EPA as claimed in claim 1, it is characterised in that: described unit
Module also includes subsystem main website, and described subsystem main website passes through EtherCAT interface and subsystem slave station linearly connected successively,
Each subsystem slave station is a unit module, and described unit module includes rotating intelligent switch joint module, straight line intelligent switch joint mould
One or more in block, numeral I/O control module, analog quantity control module and sensor acquisition module.
3. service robot control system based on EPA as claimed in claim 2, it is characterised in that: described rotation
Intelligent switch joint module, straight line intelligent switch joint module, numeral I/O control module, analog quantity control module and sensor acquisition module
The quantity of middle same unit module is one or more.
4. service robot control system based on EPA as claimed in claim 2, it is characterised in that: described system
The unit module of slave station and described subsystem slave station also includes that system expansion module, the quantity of described system expansion module are one
Or it is multiple.
5. service robot control system based on EPA as claimed in claim 2, it is characterised in that: described motion
Control system main website and described subsystem main website are provided with the motion control software storehouse being stored in FLASH memory, described motion
Control software library and include the management of motor control function library, control protocol, intelligent diagnosis system, Information Collecting & Processing and EtherCAT
EPA telecommunication management.
6. the service robot control system based on EPA as described in any one of claim 1-5, it is characterised in that:
Also including power module, described power module provides working power for whole control system.
7. service robot control system based on EPA as claimed in claim 1, it is characterised in that: described rotation
Intelligent switch joint module includes that rotary type Intelligent servo motor, described rotary type Intelligent servo motor include integrating in housing
The control module in portion, driving module and integration driving motor, described integration driving motor is respectively arranged at two ends with actively output
Axle and driven output shaft, described active output shaft stretches out from shell one end, and described driven output shaft stretches out from the housing other end, institute
State control module to be positioned at above described driving module, and described control module is connected formation one to slotting up and down with described driving module
Individual entirety is also fixed on the housing of described integration driving motor side.
8. service robot control system based on EPA as claimed in claim 1, it is characterised in that: described straight line
Intelligent switch joint module includes that orthoscopic Intelligent servo motor, described orthoscopic Intelligent servo motor include ball-screw and deceleration
Device, described ball-screw is connected with the output shaft one of described decelerator.
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| CN201610563237.XA CN106054845A (en) | 2016-07-15 | 2016-07-15 | Service robot control system based on industrial ethernet |
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| CN107901044A (en) * | 2017-12-29 | 2018-04-13 | 上海交通大学 | The drive control integral system of joint of robot |
| CN108508840A (en) * | 2018-06-15 | 2018-09-07 | 顺德职业技术学院 | A kind of experimental provision of robot workstation's electric control system |
| CN110181512A (en) * | 2019-05-22 | 2019-08-30 | 中国电子科技集团公司第十四研究所 | A kind of transformer core automatic laminating machine manually makees the control system stood |
| CN110362017A (en) * | 2019-08-02 | 2019-10-22 | 上海电气集团股份有限公司 | A kind of control system of robot |
| CN110811837A (en) * | 2019-09-25 | 2020-02-21 | 中奕智创医疗科技有限公司 | Robot and multi-motor self-adaptive control system, method, device and storage medium |
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| CN112947146A (en) * | 2021-01-27 | 2021-06-11 | 许昌学院 | High-efficient industrial robot intelligence acquisition control system |
| CN113110364A (en) * | 2021-05-26 | 2021-07-13 | 哈尔滨理工大学 | Service robot control system based on industrial Ethernet |
| CN113459092A (en) * | 2021-06-18 | 2021-10-01 | 中广核研究院有限公司 | Robot and robot system |
| CN113459081A (en) * | 2020-03-30 | 2021-10-01 | 沈机（上海）智能***研发设计有限公司 | Modular robot control system and electronic device comprising same |
| CN114248269A (en) * | 2021-12-09 | 2022-03-29 | 国网浙江省电力有限公司海宁市供电公司 | TherCAT-based electric six-axis robot control system and control method |
| CN115781691A (en) * | 2023-01-05 | 2023-03-14 | 季华实验室 | Robot axis data acquisition system based on servo driver and upper computer |
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| CN112947146B (en) * | 2021-01-27 | 2023-04-28 | 福建锋冠科技有限公司 | Intelligent acquisition control system of industrial robot |
| CN113110364A (en) * | 2021-05-26 | 2021-07-13 | 哈尔滨理工大学 | Service robot control system based on industrial Ethernet |
| CN113459092A (en) * | 2021-06-18 | 2021-10-01 | 中广核研究院有限公司 | Robot and robot system |
| CN114248269A (en) * | 2021-12-09 | 2022-03-29 | 国网浙江省电力有限公司海宁市供电公司 | TherCAT-based electric six-axis robot control system and control method |
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