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Apery robot distributed dual-bus motion control system

A motion control system and humanoid robot technology, applied in the directions of comprehensive factory control, comprehensive factory control, electrical program control, etc., can solve the problem that it is difficult to meet the higher real-time requirements of the humanoid robot system, and the CAN bus data transmission speed is limited. and other problems to achieve high real-time performance, reduce data volume, and reduce data volume.

Inactive Publication Date: 2008-10-29
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The data transmission speed of the CAN bus is very limited (up to 1Mbps), so the traditional distributed motion control system based on the CAN bus is difficult to meet the higher real-time requirements of the humanoid robot system

Method used

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  • Apery robot distributed dual-bus motion control system
  • Apery robot distributed dual-bus motion control system
  • Apery robot distributed dual-bus motion control system

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0015] Example 1 as figure 2 shown. figure 2 Nakamoto motion control system consists of coordinated motion controller, CAN bus, local bus, joint controller 1 and joint controller 2. The coordinated motion controller is connected to the joint controllers 1 and 2 through the CAN bus, and the joint controllers 1 and 2 are interconnected through the local bus. The local bus is implemented through the McBSP interface on joint controllers 1 and 2. McBSP is a multi-channel buffered serial interface that can send and receive 8 / 16 / 32-bit serial data synchronously. Both reception and transmission use independent clock and frame signals, whose source, frequency and polarity can be programmed by the user, and support up to 128 channels for transmission and reception. McBSP includes a data flow path and a control path, and is connected to external devices through 6 signal lines. Data is sent through the sending pin DX and received through the receiving pin DR. The clock and frame sy...

Embodiment 2

[0016] Example 2 as image 3 shown. image 3 Nakamoto motion control system consists of coordinated motion controller, CAN bus, local bus, joint controller 1, joint controller 2 and joint controller 3. The coordinated motion controller is connected to all joint controllers 1, 2 and 3 through the CAN bus, and the joint controllers 1, 2 and 3 are interconnected through the local bus. The local bus is still implemented using the McBSP interface on the joint controller. Set joint controller 1, which has a relatively light computational load, as the master, and set all other joint controllers 2 and 3 as slaves. Connect the pins DX, CLKX and FSX related to sending data on the main joint controller 1 to the pins DR, CLKR and FSR related to receiving data on joint controllers 2 and 3 respectively, and connect the pins on joint controllers 2 and 3 to The pins DX, CLKX and FSX related to sending data are respectively connected to the pins DR, CLKR and FSR related to receiving data on...

Embodiment 3

[0017] Example 3 as Figure 4 shown. Figure 4 Nakamoto motion control system consists of coordinated motion controller, CAN bus, local bus, joint controller 1, joint controller 2 and joint controller 3. The coordinated motion controller is connected to the joint controllers 1, 2 and 3 through the CAN bus, and the joint controllers 1, 2 and 3 are interconnected through the local bus. The local bus is still implemented using the McBSP interface on the joint controller. In terms of hardware, connect the pins related to sending data on joint controller 1 to the pins related to receiving data on joint controller 2, and connect the pins related to sending data on joint controller 2 to joint controller 3 respectively. Connect the pins related to receiving data on the joint controller 3 to the pins related to sending data on the joint controller 3 and the pins related to receiving data on the joint controller 1 to form a ring topology network. If you need to connect more joint con...

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PUM

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Abstract

The invention relates to a distribution type double-bus moving control system of a humanoid robot which belongs to a multi-freedom moving control system used for the moving control of the humanoid robot; the distribution type double-bus moving control system of the humanoid robot includes a coordinate moving controller, a CAN bus, joint controllers and a partial bus. The coordinate moving controller is connected with the joint controllers by the CAN bus; all or partial joint controllers are mutually connected with each other by the partial bus. The invention realizes the share of states and sensing information between the joint controllers by adding the partial buses and reduces the data amount transmitted on the CAN bus; thereby realizing the distribution type control based on the CAN bus and meeting the requirement of the system on a higher real time property simultaneously.

Description

technical field [0001] The invention relates to a distributed dual-bus motion control system for a humanoid robot, which is used for the motion control of a humanoid robot. It belongs to the multi-degree-of-freedom motion control system. Background technique [0002] Humanoid robot motion control systems usually need to control more than 30 joints in real time, and at the same time need to collect and process various information such as code discs and pressure sensors. In the past, the centralized control system based on the computer local bus such as PCI (Peripheral Component Expansion Interface), VME or ISA (Industry Standard Architecture) bus has high processing speed and communication speed, but the burden on the processor is too heavy, and it has nothing to do with the control system. If there are too many wires connected to the device, the system is susceptible to electromagnetic interference and affects the reliability of operation. In order to solve the above probl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00G05B19/418
CPCY02P90/02
Inventor 刘成刚苏剑波张怡
Owner SHANGHAI JIAO TONG UNIV
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