CN1309536C - Plug-and-play mechanical arm system based on distributive control - Google Patents
Plug-and-play mechanical arm system based on distributive control Download PDFInfo
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- CN1309536C CN1309536C CNB2004100532599A CN200410053259A CN1309536C CN 1309536 C CN1309536 C CN 1309536C CN B2004100532599 A CNB2004100532599 A CN B2004100532599A CN 200410053259 A CN200410053259 A CN 200410053259A CN 1309536 C CN1309536 C CN 1309536C
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Abstract
The present invention relates to a plug-and-play mechanical arm system based on distributed control, which is used for the technical field of robots and mainly comprises a host machine, a USB interface module, a central controller, an internal distributed control system and a mechanical arm body, wherein the host machine is connected with the USB interface module by a USB connecting cord. The central controller is positioned in the middle of the USB interface module and the internal distributed control system. The two parts are connected with the central controller by a parallel bus. The internal distributed control system is formed by that a plurality of subsystems with the same function are connected in parallel, wherein each subsystem comprises a PID controller a DC motor driver and a DC motor with feedback. The internal distributed control system is connected with the mechanical arm body by a control line. The present invention provides an integrated solution for the interface problem and control problem encountered in the popularization development of the future robots.
Description
Technical field
The present invention relates to a kind of universal machine arm system, particularly a kind of plug and play mechanical arm system based on distributed control.Be used for the Robotics field.
Background technology
Nowadays Robotics has formed tool new industry with broad prospects for development, and especially miniaturization, intelligentized robot have become one of up-to-date robot research direction.Wherein, robot manipulator (mechanical arm) development rapidly, its range of application is permeated to social all trades and professions gradually by original industrial environment, it is contemplated that in the future at domestic consumer's family helps the mankind to finish some particular tasks as having the mechanical arm that other electrical equipment have a small intelligentization.Yet though in the past few decades, the mechanical arm technology has obtained a lot of progress, and it is also far from daily life, and main cause has the mechanical arm mechanism complexity, costs an arm and a leg, interface mode complexity and control accuracy are difficult to guarantee etc.
Along with the increase of mechanical arm peripheral sensor, the transmission data of mechanical arm and its controller (being typically personal computer) will increase (as video transmission, sonar, infrared etc.) greatly, and traditional computer interface can't satisfy this class demand.At present, USB interface becomes standard configuration gradually and is made manufacturer by vast computer and accept, and it progressively becomes the primary selection of main frame Peripheral Interface with the characteristics of maximum transmission rate 480Mbits/sec..Simultaneously, distributed control technology has been the mainstream technology of high-accuracy mechanical arm motion control, and he can make a plurality of modules with identical function work simultaneously, is independent of each other, and improves control accuracy.Yet up to the present, nearly all mechanical arm application system all adopts RS23 or special-purpose control line to link to each other with console, and data transmission bauds limits to some extent; And the control section in joint be open loop control can't satisfy accurate control, be that closed-loop control then needs the configure dedicated control cabinet mostly, be not suitable for the family expensesization and the miniaturization of system.
Find by literature search, Chinese patent application number 03115472, title: based on the individual mechanical arm system of USB, this patent system can realize main frame by the control of USB interface to mechanical arm, supports hot plug.But the USB interface of this system adopts 1.1 standards, and transmission speed can not satisfy the higher occasion of transmission speed (as real-time video transmission etc.); And simple open loop control (drive and be steering wheel) is adopted in the control in these several joints of mechanical arm, so it can only be applied to the lower occasion of specification requirement, can't realize the accurate control of mechanical arm.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, a kind of plug and play mechanical arm system based on distributed control is provided, make it have big flexibility and higher control performance, the mechanical arm interface satisfies in the mechanical arm control procedure requirement of a large amount of sensings and control data transmission, and can be applicable to most personal computers, make mechanical arm become a general calculation machine external equipment, can be applicable to family, multiple field such as mobile robot.This invention can be adopted better simply mode, makes mechanical arm reach certain control accuracy, can finish daily task (clamping object etc.), and then reaches the target of popularizing mechanical arm.
The present invention is achieved by the following technical solutions.The present invention includes: main frame, usb interface module, central controller, inner dcs and mechanical arm body.Main frame is connected with usb interface module by a USB connecting line, central controller is positioned in the middle of usb interface module and the inner dcs, these two parts all are to be connected with central controller by parallel bus, inner dcs is made of a plurality of subsystem parallel connections with identical function, wherein, each subsystem all comprises a PID controller, the direct current generator of a DC motor driver and a band feedback, inner dcs directly is connected with the mechanical arm body by control line.
In the inner dcs, the input interface of the PID controller of all subsystems is connected in parallel, be connected to central controller by same parallel bus, and each PID controller is output as PWM (pulsewidth modulation) ripple of direct current generator steering controling signal and control electric current rotating speed, these two outputs (two-way control line) directly send on the DC motor driver, like this, DC motor driver just can drive direct current generator and do corresponding motion.Each direct current generator end all has an increment type coding disk, and what send motor movement immediately feeds back signal to the PID controller, has so just constituted a complete closed-loop system, can realize that the position of motor, the PID of speed accurately control.Each subsystem all is connected to the central controller by same parallel bus except the input of PID controller in the dcs, and they all are independent operating separately, between without any other parts that interferes with each other or interfere.DC motor driver among the present invention adopts special DC motor to drive chip, realizes the bipolarity control of direct current generator, and this control mode can obtain short control response time and higher security.
The mechanical arm body adopts the light aluminum alloy design, is driven by 5 direct current generators.The high class gear transmission is all adopted in main transmissions such as shoulder joint, elbow joint, wrist joint and paw, to guarantee the accuracy of motion.In addition, be equipped with a base, make things convenient for mechanical arm planar to do 360 degree rotations.Base is connected with the top of mechanical arm by a plane bearing, and motor is installed in mechanical arm top, and direct current generator output shaft and base are fixed by a pin.
The present invention links to each other with main frame by a USB line, and the user can be provided with the mechanical arm relevant parameter in the PC terminal.In host side, an external network camera is installed, can monitor mechanical arm system ruuning situation in real time.During work, the user at first is provided with the kinematic parameter (comprising pid parameter, desired motion position, speed etc.) in each joint of the present invention at main frame.This is equivalent to different tasks for each direct current generator.Afterwards, the user will send to the usb interface module of mechanical arm to these tasks by USB interface according to the agreement of oneself, and usb interface module can notify central controller oneself to receive user data when receiving data.Central controller will read these data and carry out analyzing and processing from the USB module.Central controller can hold the agreement of definition the specific tasks of these data separating one-tenth corresponding to each joint according to previous user at PC.At last, central controller is assigned to corresponding PID controller in the inner dcs to each task successively, and like this, the PID controller can be controlled motor movement voluntarily, and breaks away from the control of central controller.In the motor operation course, the PID controller can finally feed back to main frame to oneself state information according to above-mentioned inverse process, finishes whole mechanical arm control.USB be at first as an industrial standard to the expanding of the existing architecture of main frame, be mainly used in consumption and commercial field.Compare with other computer external interfaces, USB interface has numerous advantages.The present invention uses usb interface module to link to each other with main frame, and main frame can be easy to install and deploying new equipment behind equipment access system, can also dynamically change device parameter.This specific character can satisfy the needed flexibility of individual mechanical arm, can easily, dynamically break away from or connect to go up main frame, and main frame can automatically judge whether mechanical arm connects, and this information is shown to the user of mechanical arm.Like this, main frame and mechanical arm have been realized the plug-and-play feature of mechanical arm together, adopt up-to-date USB2.0 standard, can also obtain faster transmission speed, have backward compatible characteristics.
Embedded inner dcs among the present invention, The whole control system has been divided into some independent subsystem according to function.As mentioned above, each subsystem by a PID controller, DC motor driver and and the direct current generator of a band feedback form.Each subsystem is called node.All nodes link to each other with central controller of the present invention by parallel bus.Because the Electric Machine Control task of each intranodal is independently finished by its PID controller, so the load of central controller will be lower, the only transmission control of responsible data and the distribution of task.This working mechanism will significantly reduce the control complexity of system, improve the reliability and the control performance of whole system with less cost.Simultaneously, it is combined closely upper strata planning with the bottom motion control, for realizing that control provides condition in real time.The present invention carries out modeling by using distributed control technology to the mechanical arm hierarchy of control, easy-to-use, healthy and strong, the general distributed hierarchy of control of mechanical arm have been set up, and the centralized task that makes the main frame in original hierarchy of control is handled the multiple step format that is converted into the bottom mechanical arm and is handled, reduced the coupling between individual object, for effective realization of whole system provides convenience.
The present invention has realized the plug-and-play feature of universal machine arm and accurately control by high speed USB 2.0 interfaces and distributed control, finally realized suitable mechanical arm miniaturization and generalization.Compare with background technology, utilize the inner distributed hierarchy of control modularization, have characteristics such as reliability height, finally realized the accurate control of mechanical arm.The present invention has provided the plug and play and the distributed control solution of universal machine arm, standard and the reference that provides architecture and technology to realize is provided for following domestic robot, distributed robot, make each research and development institution of robot independently develop the mechanical arm that is similar to the common computer peripheral hardware with reference to this standard, thereby improve research efficient, promote the Robotics development.
Description of drawings
Fig. 1 structural representation of the present invention
Fig. 2 functional block diagram of the present invention
Fig. 3 pid control module control of the present invention block diagram
The hardware interface connection layout of Fig. 4 single-chip microcomputer of the present invention
Fig. 5 single-chip microcomputer end of the present invention main program flow chart
The specific embodiment
As shown in Figure 1, the present invention includes: main frame 1, usb interface module 2, central controller 3, inner dcs 4 and mechanical arm body 5.Main frame 1 is connected with usb interface module 2 by a USB connecting line, central controller 3 is positioned in the middle of usb interface module 2 and the inner dcs 4, these two parts all are to be connected with central controller 3 by parallel bus, inner dcs 4 is made of a plurality of subsystem parallel connections with identical function, wherein, each subsystem all comprises a PID controller 6, the direct current generator 8 of a DC motor driver 7 and a band feedback, inner dcs 4 directly is connected with mechanical arm body 5 by control line.
In the inner dcs 4, the input interface of the PID controller 6 of all subsystems is connected in parallel, be connected to central controller 3 by same parallel bus, and each PID controller 6 is output as the pulse width modulated wave of direct current generator 8 steering controling signals and control electric current rotating speed, and this two-way control line is directly connected on the DC motor driver.
Each direct current generator 8 end all has an increment type coding disk.At main frame 1 end, an external network camera 9 can also be set.
Provide embodiment below in conjunction with accompanying drawing:
Present embodiment is the small-sized machine arm of a 5DOF (free degree), and this universal machine arm body 5 adopts hard aluminium alloy to make high 15cm, wide 45cm, quality is 1.8 kilograms, and each joint is directly driven by five direct current generators 8, and two are furnished with a Ni-MH battery and control panel outward.PWM (pulsewidth modulation) mode is adopted in the control of the speed of direct current generator 8 in the native system.Fig. 1 has represented the hardware structure diagram of universal machine arm, and wherein usb interface module 2 has been realized the interconnection of universal machine arm and main frame 1, and its relevant configuration is finished by one 8 parallel-by-bit bus by central controller 3 (8 single-chip microcomputers).In addition, the central controller 3 parallel closed-loop controls that connect 5 PID RACSs realization direct current generators 8.The outside camera 9 that host side connects can be in real time with observed manipulator motion IMAQ in control software.
In the present embodiment, employing USB2.0 high-speed interface chip I SP1581 realization universal machine arm is connected with main frame 1.This chip is supported USB2.0 standard and USB1.1 standard simultaneously, and it communicates by 8 buses in an inside and MCU.Central controller 3 is enhancement mode 51 single-chip microcomputer PC89C61, and except that possessing all functions of common 51 single-chip microcomputers, this single-chip microcomputer has the RAM of 256Byte, the ROM of 16Kbyte, and it is more to satisfy this example program variable substantially, the demand that code is long.Fig. 4 has represented the concrete connected mode of it and ancillary equipment.
PID controller 6 is motor special integrated circuits, supporting location control and speed control, and the position range that it is supported is-1,073,741,823 lines arrive+1,073,741,823 lines, velocity interval is 0 to 11,073,741,823/216 line/samplings.Before motor movement, only need the parameter of 3 couples of LM629 of central controller to be provided with, comprise Kp, Ki, Kd, desired locations and desired speed etc., start then.Afterwards, can send corresponding PWM (pulsewidth modulation) ripple after the LM629 internal arithmetic and give DC motor driver 7-LM298, control the motion of direct current generator 8 or stop, and turn to and the speed of service.Single-chip microcomputer just can continue to carry out other tasks after having disposed this PID controller 6, whole PID calculating process need not its intervention.
Fig. 2 has represented the general function figure of system.Main frame is used as the platform that the user controls the universal machine arm, in system's running, need user interface of operation receive the user on the main frame, can realize showing in real time the function of the running status of universal machine arm simultaneously the setting of mechanical arm and the distribution of task.After relevant setting sends to central controller with task by USB interface, the centre controller will be done respective handling according to the data that receive, and be provided with as the PID controller parameter, and the direct current generator kinematic parameter is provided with, and stops motor, starter motor or the like.Simultaneously, it needs in real time the status information of each PID controller to be fed back to main frame, shows to the user for the latter.Feedback signal comprises the connection status of PID controller, the position of motor operation, speed, acceleration etc.Single-chip microcomputer can send configuration-direct to relevant PID controller after task is decomposed, and the PID controller can be taked control to motor driver according to instruction, if operating instruction, it can send corresponding PWM ripple to motor driver, if halt instruction, it can end motor driver.Need in the motor operation course state of self is sent in the PID controller by encoder, to realize the closed-loop control of motor, PID control block diagram as shown in Figure 3.Fig. 4 has represented the hardware interface connection layout of single-chip microcomputer, and two 8 parallel port is used to connect ISP1581 and PID controller respectively.Main program flow chart such as Fig. 5 of central controller represent.System at first with initialization USB interface device relevant parameter, comprises device descriptor, data transmission standard and other interface parameters after starting.Then, central controller is initialization PID control device LM629 one by one: be set zero point, Kp is set, Ki, Kd parameter etc.Like this, whole initialization procedure leaves it at that, and program will enter a circulation, waits for the instruction that the PC end sends, and can interrupt circulation after receiving instruction, does next step processing according to instruction.After mechanical arm inserted main frame, main frame can send association requests by interface device ISP1581 to central controller according to USB standard USB, receive reply after, main frame is set up the communication port with the universal machine arm with this device-dependent message notifying operation system.Setting up in the process of USB transit passage, central controller is responsible for to the parameter configuration of ISP1581 and to replying that USB asks, and all data are all via the ISP1581 transmitted in both directions.Central controller is in cyclic process, and except that the USB request instruction, it may receive other two kinds of instructions that main frame is sent: movement instruction and query statement.Movement instruction has comprised that the user expects all data (motion mode, position, the speed of motor movement, acceleration etc.), central controller need and start according to the instruction corresponding PID controller of configuration, afterwards, it also needs the state notifying PC with the target motor, does next step processing for the user.Query statement allows the user to obtain the status information in each joint of mechanical arm at any time, and this function has guaranteed universal machine arm transparent to the user, for the accurate motion control that realizes mechanical arm provides assurance.If system's generation abnormal conditions in the universal machine arm motion process with stop motion, and to this mistake of main frame real-time report, are waited for user's respective handling.
Universal machine arm example of the present invention has been set up easy-to-use, healthy and strong, the general mechanical arm hierarchy of control, has realized the plug and play of mechanical arm and accurately control.Whole system is the advantage in mechanical arm control in the flexibility that has all demonstrated fully USB interface on the hardware and software structure and the distributed hierarchy of control, has also provided the specific implementation method of following universal machine arm according to the present invention's exploitation.
Claims (4)
1, a kind of plug and play mechanical arm system based on distributed control, comprise: main frame (1), central controller (3), inner dcs (4) and mechanical arm body (5), it is characterized in that, also comprise: usb interface module (2), main frame (1) is connected with usb interface module (2) by a USB connecting line, it is middle with inner dcs (4) that central controller (3) is positioned at usb interface module (2), usb interface module (2) all is to be connected with central controller (3) by parallel bus with inner dcs (4), inner dcs (4) is made of a plurality of subsystem parallel connections with identical function, wherein, each subsystem all comprises a PID controller (6), the direct current generator (8) of a DC motor driver (7) and a band feedback, inner dcs (4) directly is connected with mechanical arm body (5) by control line.
2, according to right 1 described plug and play mechanical arm system based on distributed control, it is characterized in that, in the inner dcs (4), the input interface of the PID controller (6) of all subsystems is connected in parallel, be connected to central controller (3) by same parallel bus, and each PID controller (6) is output as the pulse width modulated wave of direct current generator (8) steering controling signal and rotating speed control, turns to the rotating speed control line to be directly connected on the DC motor driver (7).
3, according to right 2 described plug and play mechanical arm systems, it is characterized in that each direct current generator (8) end all has an increment type coding disk based on distributed control.
4, according to right 1 described plug and play mechanical arm system, it is characterized in that,, an external network camera (9) is set at main frame (1) end based on distributed control.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004100532599A CN1309536C (en) | 2004-07-29 | 2004-07-29 | Plug-and-play mechanical arm system based on distributive control |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2004100532599A CN1309536C (en) | 2004-07-29 | 2004-07-29 | Plug-and-play mechanical arm system based on distributive control |
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| CN1586829A CN1586829A (en) | 2005-03-02 |
| CN1309536C true CN1309536C (en) | 2007-04-11 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2960075B1 (en) * | 2010-05-14 | 2012-06-15 | Staubli Sa Ets | METHOD FOR CONTROLLING AN AUTOMATED WORKING CELL |
| CN102962844B (en) * | 2012-11-09 | 2017-08-25 | 沈阳工业大学 | A kind of shadow puppet performance apparatus control system by being mechanically operated by |
| CN104827468A (en) * | 2015-01-20 | 2015-08-12 | 上海优爱宝机器人技术有限公司 | Robot distributed control system and method |
| CN105955101A (en) * | 2016-04-27 | 2016-09-21 | 李灵超 | Control method, scheduling processor and controller |
| CN107953337A (en) * | 2017-12-29 | 2018-04-24 | 深圳市乐幻索尔科技有限公司 | A kind of adjustment of robot motion deviation and store method and system |
| CN112025704B (en) * | 2020-08-25 | 2021-10-01 | 杭州湖西云百生科技有限公司 | Real-time distributed robot control method and system based on memory type database |
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| JPH10288052A (en) * | 1997-04-15 | 1998-10-27 | Hitachi Ltd | Throttle valve control device |
| CN1434391A (en) * | 2003-02-20 | 2003-08-06 | 上海交通大学 | USB interface based personal manipulator system |
| JP2004181543A (en) * | 2002-11-29 | 2004-07-02 | Nachi Fujikoshi Corp | Industrial robot and method for judging its abnormality |
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2004
- 2004-07-29 CN CNB2004100532599A patent/CN1309536C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10288052A (en) * | 1997-04-15 | 1998-10-27 | Hitachi Ltd | Throttle valve control device |
| JP2004181543A (en) * | 2002-11-29 | 2004-07-02 | Nachi Fujikoshi Corp | Industrial robot and method for judging its abnormality |
| CN1434391A (en) * | 2003-02-20 | 2003-08-06 | 上海交通大学 | USB interface based personal manipulator system |
Non-Patent Citations (1)
| Title |
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| 精密并联机器人控制算法及控制***研究 张秀峰 孙立宁，机械工程学报，第40卷第4期 2004 * |
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