GSK-Link bus based modular robot control device and control method

Abstract

The invention discloses a GSK-Link bus based modular robot control device and a control method. The GSK-Link bus based modular robot control device comprises a main controller, an algorithm controller, a GSK-Link bus plate, a display screen and a press key plate. The main controller is used for implementing teaching, teaching examination, reproducing motion control, teaching programming, procedure explanation, pretreatment and parameter setting on a robot; the algorithm controller is used for performing forward and inverse solution algorithm, interpolation algorithm, speed control and trajectory planning on the motion data of the robot; the GSK-Link bus plate is used for implementing the GSK-Link bus control; the display screen is used for displaying the program editing and the state of the robot; the press key plate is used for implementing the operation input and the displaying of an indicating lamp; the main controller is connected with the display screen, the algorithm controller and the GSK-Link bus plate; and the GSK-Link bus plate is connected with the press key plate. The GSK-Link bus can be used for quickly responding to the request, transmitting data at high speed and detecting the state in real time, so that the real-time performance and the safety of the system are improved. In addition, due to the function modularization of the components of the GSK-Link bus based modular robot control device, the functions of other modules can not be affected by addition or modification of a single module, and the reliability of the system is improved.

Description

technical field [0001] The invention relates to the technical field of industrial control, in particular to a modular robot control device and a control method based on a GSK-Link bus. Background technique [0002] Industrial robots are high-tech intensive mechatronics products. It is a very effective means to improve the automation of the production process, improve the working environment, improve product quality and production efficiency, and is also one of the important contents of the technological revolution. As the core device of robot motion control, the robot control device has continuously improved its design requirements. In order to make robot control more flexible and efficient, more and more systems currently use modular motion control devices with bus functions. However, most robot control devices now use PCI, CAN, and DeviceNet buses for transmission. PCI is a parallel bus that cannot connect too many devices. The bus expandability is relatively poor, and in...

AI Technical Summary

Problems solved by technology

However, most robot control devices now use PCI, CAN, and DeviceNet buses for transmission. PCI is a parallel bus that cannot connect too many devices. The bus expandability is relatively poor, and interference between lines will cause the system to fail to work normally; Only 1Mbits / s, which cannot meet the needs of large data transmission, and only 110 devices can be connected to the bus at most

Most of the host computers based on the PCI bus still use ordinary computers, which are large in size and high in cost.

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