CN110328663A - Robot hard real-time control system based on virtual emulation and (SuSE) Linux OS - Google Patents
Robot hard real-time control system based on virtual emulation and (SuSE) Linux OS Download PDFInfo
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- CN110328663A CN110328663A CN201910564128.3A CN201910564128A CN110328663A CN 110328663 A CN110328663 A CN 110328663A CN 201910564128 A CN201910564128 A CN 201910564128A CN 110328663 A CN110328663 A CN 110328663A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/14—Session management
- H04L67/141—Setup of application sessions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- Computer Networks & Wireless Communication (AREA)
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- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Fuzzy Systems (AREA)
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- Software Systems (AREA)
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- Computer Security & Cryptography (AREA)
- Evolutionary Computation (AREA)
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Abstract
The robot hard real-time control system based on virtual emulation and (SuSE) Linux OS that the present invention relates to a kind of, including Unity3D dummy emulation system, linux system industrial personal computer and motor servo driver, the Unity3D dummy emulation system, which is connected by Socket network with linux system industrial personal computer, carries out data communication, the linux system industrial personal computer carries out data communication by CAN network and motor servo driver, and the linux system industrial personal computer is using Xenomai kernel patch to the Linux real time operating system of linux kernel real-time extension.The present invention is using Unity dummy emulation system as host computer, using linux system industrial personal computer as slave computer, it is transmitted using the data that UDP communications protocol carries out upper computer and lower computer, the communication of slave computer and servo motor is realized by Can bus, to realize the working condition and motor function of remote control robot, and according to the effective monitoring robot real time kinematics posture of data feedback, it ensure that the hard real-time of robot motion, have the advantages that at low cost, favorable expandability.
Description
Technical field
It is especially a kind of based on virtual emulation and (SuSE) Linux OS the invention belongs to technical field of robot control
Robot hard real-time control system.
Background technique
Currently, virtual reality technology is an important directions of emulation technology, apply to the numerous areas such as production and living, it is special
It is not the combination of robot technology and Virtual Simulation, provides and constructive instruct experience.Virtual reality technology can be with mould
Quasi- environment dynamic in real time and 3D solid, by building virtual scene, industrial robot is specific in simulation actual production
Pose and motion profile design the interactive interface of virtual scene, realize the control and monitoring of analogue system.By robot technology and
It is current scientific and technological one of the hot spot reformed that virtual reality technology, which combines,.
Real-time system is can to execute calculating or processing affairs within the determining time and respond to external event
Computer system.Real-time is of great significance for the research of robot especially remote control robot, at present robot
Real-time control system mainly has RTOS+Linux dual system, vxworks operating system etc..RTOS+Linux dual system needs additional
The difficulty of communication between designing system, exploitation and debugging is relatively high, and VxWorks technology maturation is widely used in aviation, military affairs etc.
High-end field, but it is expensive.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, propose a kind of reasonable design, strong real-time and accurately may be used
The robot hard real-time control system based on virtual emulation and (SuSE) Linux OS leaned on.
The present invention solves its technical problem and adopts the following technical solutions to achieve:
A kind of robot hard real-time control system based on virtual emulation and (SuSE) Linux OS, including Unity3D are virtual
Analogue system, linux system industrial personal computer and motor servo driver, the Unity3D dummy emulation system pass through Socket net
Network is connected with linux system industrial personal computer carries out data communication, and the linux system industrial personal computer passes through CAN network and servo electricity
Machine driver carries out data communication, and the linux system industrial personal computer is using Xenomai kernel patch to linux kernel real-time extension
Linux real time operating system.
The Unity3D dummy emulation system includes: to send mould by the instruction that Socket network communication Udp agreement is built
Block and data reception module, the instruction calculation module for controlling the various motor patterns of robot, display robot current motion state
Three-dimensional Display module and show each joint current working status of robot data disaply moudle.
The Unity3D dummy emulation system is connected by wireless router with linux system industrial personal computer.
The linux system industrial personal computer includes multiple CAN cards, the ADAM data collecting card, Linux being mounted on industrial personal computer
Real time operating system and hard real-time control system；The multiple CAN card is connected by CAN network with motor servo driver
It connects；The ADAM data collecting card is connected by RS485 bus with external sensor.
The external sensor is close to switch and magnetic navigation sensor.
The hard real-time control system includes the robot and mobile platform by Socket network communication Udp protocol realization
Movement instruction receiving module and robot and mobile platform operational data feedback module, acquisition sensor data module, machine
The beginning parameter transform model module of the servo motor of people and motion platform, by the high-level interface of Xenomai kernel calls RTDM with
Driving in real time
The communication connection module of module rtcan creation CAN card and servo motor.
The motor servo driver is connected with the servo motor in robot.
Servo motor in the robot includes on servo motor and mobile platform tire on robot arm
Servo motor.
The servo motor is using the servo motor for supporting CanOpen agreement.
The advantages and positive effects of the present invention are:
1, the present invention, using linux system industrial personal computer as slave computer, is made using Unity dummy emulation system as host computer
The data transmission that upper computer and lower computer is carried out with UDP communications protocol realizes the logical of slave computer and servo motor by Can bus
News, to realize the working condition and motor function of remote control robot, and real according to the effective monitoring robot of data feedback
When athletic posture.It is able to carry out motor function simulation by analogue simulation, ensure that the correctness and machine of detection motion planning
The hard real-time of device people movement, has the advantages that at low cost, favorable expandability.
2, Linux system industrial personal computer of the invention carries out kernel extensions to linux system using Xenomai, makes Linux system
System can be used for hard real time application, control CAN card using the real-time driver module of Xenomai, ensure that the strong reality of robot motion
Shi Xing.Xenomai and Linux is open source system, freely and can obtain many support in community.
3, Linux system industrial personal computer of the invention is using multiple CAN cards, the CAN card for being placed in different by each servo motor
Under, the servo motor quantity under single-CAN-card is reduced, the communication latency between the same each node in the channel CAN is shortened, is contracted
In the short task run period, keep robot motion more acurrate.
Detailed description of the invention
Fig. 1 is system connection block diagram of the invention；
Fig. 2 is control flow chart of the invention.
Specific embodiment
The embodiment of the present invention is further described below in conjunction with attached drawing.
Design philosophy of the invention is:
(1) this system builds the virtual emulation field of robot in Unity dummy emulation system using Unity3D software
Scape, design robot movement different mode and virtual emulation scene in corresponding control function.Virtual emulation scene is connected
Wireless router is connect, control instruction is remotely sent by Udp network communication, and receive the feedback data of robot, made in scene
Mold sync reflection robot motion state, realize robot control system to robot it is long-range control with monitor.
(2) real time operating system refers to that system has the predictable response time in the task of execution.Since Linux is operated
System is non-real time operating system, and therefore, the present invention carries out in real time (SuSE) Linux OS using Xenomai kernel patch
Core extension.A series of multi-task scheduling mechanism that Xenomai kernel itself provides, pass through the upper of Xenomai kernel calls RTDM
The communication connection of layer interface and real-time driver module rtcan creation CAN card and servo motor.Calculate Udp network communication, sensor
In the task runs periods such as data acquisition, robot kinematics and servo motor current kinetic angle interpolation calculation, use Xenomai
Simultaneously the task run period is arranged in task management service-creation.
Based on above-mentioned design philosophy, the present invention is based on the robot hard real-time controls of virtual emulation and (SuSE) Linux OS
System, as shown in Figures 1 and 2, including Unity3D dummy emulation system, linux system industrial personal computer and motor servo driver,
Unity3D dummy emulation system and linux system industrial personal computer pass through Socket network progress data communication, linux system industry control
Machine and motor servo driver carry out data communication.The various pieces of system are illustrated respectively below:
(1) the Unity3D dummy emulation system includes: the instruction hair built by Socket network communication Udp agreement
Module and data reception module are sent, the instruction calculation module of control robot 96 formulas of various fortune shows robot current kinetic shape
The Three-dimensional Display module of state shows the data disaply moudle of each joint current working status of robot.
The various modes that the movement of control robot is designed in Unity3D virtual emulation platform, pass through Socket network
Udp agreement is communicated, the movement instruction of robot and mobile platform is sent to linux system industry control using instruction sending module
Machine.
Unity3D virtual emulation platform receives current servo motor movement by Socket network communication data receiving module
Each joint information such as state, electric current is shown on data disaply moudle, and shows current machine by Three-dimensional Display module by information
Device human body posture realizes long-range control and monitoring of the virtual emulation to robot.
(2) linux system industrial personal computer includes multiple CAN cards, ADAM data collecting card and the peace being mounted on industrial personal computer
Linux real time operating system and hard real-time control system on industrial personal computer.It is illustrated separately below:
It is connected present invention uses multiple CAN cards and with motor servo driver.One CAN card can at most connect 127
Node, still, since the response time is longer between node and node, by watching for the servo motor of robot and mobile platform
It takes under the channel CAN that motor is placed in different, so that the number of nodes under same CAN card is not more than 4, shorten the task of whole system
The cycle of operation.CAN card is connected by the present invention with motor servo driver, connects between the lower driver of the same CAN card.Robot
Arm is different from the servo motor mode of mobile platform tire, sets velocity mode, mechanical arm servo for tire servo motor
Motor is set as target position mode, and the control of each electric machine operation state is carried out using SDO, corresponding for its configuration in driver
RPDO and TPDO transmits exercise data, and control servo motor completes goal task.CAN card sends servo motor state by RPDO
With the desired value of position, the information such as servo motor current state, position or speed, electric current are received by TPDO.ADAM data are adopted
Collect module and external sensor data is received by RS-485 bus, external sensor data includes being mounted on the close of robot to open
Pass, magnetic navigation sensor etc..
Linux real time operating system is to be operated using Linux of the Xenomai kernel patch to linux kernel real-time extension
System.Xenomai kernel patch uses two kernel mechanism, Xenomai kernel processes real-time task, the non-reality of linux kernel processing
When task, realize the hard real-time function of linux system.
Hard real-time control system includes the fortune of the robot and mobile platform by Socket network communication Udp protocol realization
Dynamic command reception module and robot and mobile platform operational data feedback module, acquisition sensor data module, robot with
The beginning parameter transform model module of the servo motor of motion platform, by the high-level interface of Xenomai kernel calls RTDM and in real time
The communication connection module of drive module rtcan creation CAN card and servo motor.
The kinematic parameter for the servo motor that beginning parameter transform model module calculates is passed through communication connection by linux system industrial personal computer
Module reaches motor servo driver.Linux system industrial personal computer receives servo motor information by communication connection module, and will watch
Motor information is taken applied to next period calculating process.Linux system industrial personal computer passes through robot and mobile platform operational data
Feedback module is sent to Unity3D virtual emulation platform.
(3) motor servo driver is for driving servo motor to move, and by servo motor current state, position or
The information such as speed, electric current feed back to Linux industrial personal computer by CAN bus.
Motor servo driver is connected with the servo motor in robot, by linux system industrial personal computer supervisory-controlled robot
Working condition and motor function.Servo motor in robot is using the servo motor for supporting CanOpen agreement.
The present invention does not address place and is suitable for the prior art.
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore the present invention includes
It is not limited to embodiment described in specific embodiment, it is all to be obtained according to the technique and scheme of the present invention by those skilled in the art
Other embodiments out, also belong to the scope of protection of the invention.
Claims (9)
1. a kind of robot hard real-time control system based on virtual emulation and (SuSE) Linux OS, it is characterised in that: including
Unity3D dummy emulation system, linux system industrial personal computer and motor servo driver, the Unity3D dummy emulation system are logical
It crosses Socket network and is connected with linux system industrial personal computer and carry out data communication, the linux system industrial personal computer passes through CAN net
Network and motor servo driver carry out data communication, and the linux system industrial personal computer is using Xenomai kernel patch in Linux
The Linux real time operating system of core real-time extension.
2. the robot hard real-time control system according to claim 1 based on virtual emulation and (SuSE) Linux OS,
Be characterized in that: the Unity3D dummy emulation system includes: to be sent by the instruction that Socket network communication Udp agreement is built
Module and data reception module, the instruction calculation module for controlling the various motor patterns of robot, display robot current kinetic shape
The Three-dimensional Display module of state and the data disaply moudle for showing each joint current working status of robot.
3. the robot hard real-time control system according to claim 1 based on virtual emulation and (SuSE) Linux OS,
Be characterized in that: the Unity3D dummy emulation system is connected by wireless router with linux system industrial personal computer.
4. the robot hard real-time control system according to claim 1 based on virtual emulation and (SuSE) Linux OS,
Be characterized in that: the linux system industrial personal computer include the multiple CAN cards being mounted on industrial personal computer, ADAM data collecting card,
Linux real time operating system and hard real-time control system；The multiple CAN card passes through CAN network and motor servo driver
It is connected；The ADAM data collecting card is connected by RS485 bus with external sensor.
5. the robot hard real-time control system according to claim 4 based on virtual emulation and (SuSE) Linux OS,
Be characterized in that: the external sensor is close to switch and magnetic navigation sensor.
6. the robot hard real-time control system according to claim 4 based on virtual emulation and (SuSE) Linux OS,
Be characterized in that: the hard real-time control system includes flat by the robot of Socket network communication Udp protocol realization and movement
The movement instruction receiving module and robot and mobile platform operational data feedback module of platform, acquisition sensor data module, machine
The beginning parameter transform model module of the servo motor of device people and motion platform passes through the high-level interface of Xenomai kernel calls RTDM
With the communication connection module of real-time driver module rtcan creation CAN card and servo motor.
7. the robot hard real-time control system according to claim 1 based on virtual emulation and (SuSE) Linux OS,
Be characterized in that: the motor servo driver is connected with the servo motor in robot.
8. the robot hard real-time control system according to claim 7 based on virtual emulation and (SuSE) Linux OS,
Be characterized in that: the servo motor in the robot includes on servo motor and mobile platform tire on robot arm
Servo motor.
9. the robot hard real-time control system according to claim 7 or 8 based on virtual emulation and (SuSE) Linux OS
System, it is characterised in that: the servo motor is using the servo motor for supporting CanOpen agreement.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110955214A (en) * | 2019-12-10 | 2020-04-03 | 广东利元亨智能装备股份有限公司 | 3D visualization driving system and driving method |
| CN110978051A (en) * | 2019-11-18 | 2020-04-10 | 深圳前海达闼云端智能科技有限公司 | Robot simulation device, robot simulation system, robot simulation method, readable medium, and electronic apparatus |
| CN111300412A (en) * | 2020-02-28 | 2020-06-19 | 华南理工大学 | Method for controlling robot based on illusion engine |
| CN111413985A (en) * | 2020-04-08 | 2020-07-14 | 广州劲源科技发展股份有限公司 | Unity-based robot automatic back-track method, system, device and storage medium |
| CN111723473A (en) * | 2020-05-30 | 2020-09-29 | 同济大学 | Three-dimensional visual collaborative simulation system |
| CN113492414A (en) * | 2021-06-29 | 2021-10-12 | 江苏集萃华科智能装备科技有限公司 | Web-based robot cross-platform man-machine interaction system and implementation method |
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| CN110978051A (en) * | 2019-11-18 | 2020-04-10 | 深圳前海达闼云端智能科技有限公司 | Robot simulation device, robot simulation system, robot simulation method, readable medium, and electronic apparatus |
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| CN113492414A (en) * | 2021-06-29 | 2021-10-12 | 江苏集萃华科智能装备科技有限公司 | Web-based robot cross-platform man-machine interaction system and implementation method |
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