Distribution multiple freedom robot controlling system

A control system and degree of freedom technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems that local control is difficult to meet the requirements, limit the remote control of robots, and limit real-time planning, and achieve simple structure, low cost, The effect of short development cycle

Inactive Publication Date: 2007-10-03
WUHAN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the position control of each joint does not use a dedicated motion planner, but is completed by the main control computer, and the processing speed is limited. When there are many joint modules, its scalability is limited to a certain extent.
[0005] In addition, with the expansion of robot application fields, such as robot operations in dangerous environments, local control has been difficult to meet the requirements, and robots need to have remote operation capabilities
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Method used

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  • Distribution multiple freedom robot controlling system
  • Distribution multiple freedom robot controlling system

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0029] Embodiment 1 A wired control system for a distributed multi-degree-of-freedom robot.

[0030]The system is shown in Figure 1 and Figure 5. The industrial computer 1 is directly connected to a "a multi-degree-of-freedom robot motion planning controller" 2 through a twisted pair cable and a "a multi-degree-of-freedom robot motion planning controller". The controller" 2 is connected with a plurality of "a DSP-based modular robot independent joint controller" 3 respectively through CAN-bus. The DC power supply 4 is respectively connected with "a multi-degree-of-freedom robot motion planning controller" 2 and a plurality of "a DSP-based modular robot independent joint controller" 3 .

[0031] The patented technology of "a multi-degree-of-freedom robot motion planning controller" 2 used is shown in Figure 5, including a power conversion module 6, a DSP chip 7, an Ethernet controller 8, an Ethernet connector 9, and a CAN bus connection. 10, CAN bus interface chip 11; the outp...

Example Embodiment

[0036] Embodiment 2 A wired control system for a distributed multi-degree-of-freedom robot.

[0037] The system is shown in Figure 1, Figure 2 and Figure 4. The industrial computer 1 is connected to a plurality of "a multi-degree-of-freedom robot motion planning controller" 2 through a router 5 in a wired connection. The robot motion planning controller"2 is connected with multiple "a DSP-based modular robot independent joint controller"3 through CAN-bus. The DC power supply 4 is respectively connected with a plurality of "a multi-degree-of-freedom robot motion planning controller" 2 and a plurality of "a DSP-based modular robot independent joint controller" 3 .

[0038] The connection between "a multi-degree-of-freedom robot motion planning controller" 2 and "a DSP-based modular robot independent joint controller" 3 is the same as that of the first embodiment.

Example Embodiment

[0039] Embodiment 3 A wireless control system for a distributed multi-degree-of-freedom robot.

[0040] The system is shown in Fig. 1, Fig. 3, Fig. 4, the industrial computer 1 is connected with one or more "a multi-degree-of-freedom robot motion planning controller" 2 through a wireless router 5 in a wireless connection manner, one or more "A multi-degree-of-freedom robot motion planning controller" 2 is respectively connected with a plurality of "a DSP-based modular robot independent joint controller" 3 through CAN-bus. The DC power supply 4 is respectively connected with one or more "a multi-degree-of-freedom robot motion planning controller" 2 and a plurality of "a DSP-based modular robot independent joint controller" 3 .

[0041] The connection between "a multi-degree-of-freedom robot motion planning controller" 2 and "a DSP-based modular robot independent joint controller" 3 is the same as that of the first embodiment.

[0042] This embodiment adopts a combined structur...

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Abstract

A distributed control system for one or more multi-freedom robots features that an industrial computer is connected via Ethernet to one or more multi-freedom robot movement plan controllers A, which is connected via CAN-bus to one or more DSP-based modular robot' s individual joint controllers B, and a DC power supply is connected with one or more said controller A and controllers B.

Description

Technical field: [0001] The invention belongs to the technical field of robot control. Specifically, it relates to a distributed multi-freedom robot control system. Background technique: [0002] Robotic tasks and working environments are becoming more and more complex, and the performance requirements for robot control systems are also increasing. It has become an important research direction to develop a multi-degree-of-freedom robot control system with fast response, strong scalability, and remote operation. [0003] In multi-degree-of-freedom robot motion planning, the robot controller and the joint module control drivers of each degree of freedom need to perform a large number of mathematical calculations and data exchanges, such as coordinate transformation, solution of forward and inverse kinematic equations, high-order interpolation calculations, etc. This series of operations and data exchange requires high-speed processors to meet the real-time requirements of mo...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J13/00
Inventor 吴怀宇赵伟胡琳萍程磊余亚强方恒刘亮张巍
Owner WUHAN UNIV OF SCI & TECH
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