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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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  • 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
Bottom-up layered design is adopted, and the system structure is reasonable (Wang Monan, Sun Lining. Design of multi-motion mobile robot control system. Journal of Electrical Machinery and Control. 2005 Vol. 9 No. 4), but due to the use of The serial communication mode, the maximum baud rate is 115200bps, the real-time planning of the system is limited, and at the same time, it also limits the remote control of the robot
Therefore, its communication speed and control flexibility need to be further improved

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] Embodiment 1 is a wired control system of 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. The controller" 2 is respectively connected to a plurality of "a DSP-based modular robot independent joint controller" 3 through CAN-bus. The DC power supply 4 is respectively connected with "a multi-degree-of-freedom robot motion planning controller" 2 and multiple "a DSP-based modular robot independent joint controller" 3 .

[0031] The patented technology of "a multi-degree-of-freedom robot motion planning controller" 2 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 Device 10, CAN bus interface chip 11; the output end of power conversion module 6 is connected with DSP chip 7, Ethern...

Embodiment 2

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

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

Embodiment 3

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

[0040] The system is shown in Fig. 1, Fig. 3 and Fig. 4. The industrial computer 1 is connected to one or more "a multi-degree-of-freedom robot motion planning controller" 2 through a wireless router 5, and one or more "A multi-degree-of-freedom robot motion planning controller" 2 is respectively connected to 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 mode 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 in Embodiment 1.

[0042] This embodiment adopts a combined structure, centering on system design...

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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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