A Motion Control System of Manipulator Based on Ethernet
A technology of motion control system and motion controller, which is applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., can solve the problems of high-speed and high-precision motion control and low transmission rate, so as to improve system reliability, speed and Effect of precision, good working environment
Active Publication Date: 2016-06-08
杭州展晖科技有限公司
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[0003] In order to overcome the low transmission rate of the current manipulator control system and cannot meet the needs of high-speed and high-precision motion control, the present invention proposes an Ethernet-based manipulator motion control system with good real-time performance and high performance and high precision.
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[0018] The present invention will be further described below in conjunction with the accompanying drawings.
[0019] refer to Figure 1 ~ Figure 4 , a manipulator motion control system based on Ethernet, including an upper layer module based on an industrial computer and a lower layer motion controller module with an ARM processor as the core, the upper layer module and the lower layer motion controller module are connected via Ethernet way of communication connection.
[0020] The upper layer module includes an industrial computer, and the industrial computer is used to complete human-computer interaction, input data processing and communication with the lower computer, and the lower layer motion controller module is responsible for communicating with the upper computer, further processing processing data, and serving Control, I\O module input and output, etc.;
[0021] The lower layer motion controller module includes an ARM processor, an Ethernet communication interface, ...
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An Ethernet based manipulator motion control system comprises an industrial personal computer based upper layer module and a lower layer motion controller module taking an ARM processor as a core, wherein the upper layer module and the lower layer motion controller module are in communication connection through an Ethernet; the upper layer module comprises the industrial personal computer; the lower layer motion controller module comprises the ARM processor, an Ethernet communication interface, an I / O interface, an external storage, a driver module, and a stepping motor; the ARM processor is connected with the Ethernet communication interface, the I / O interface, the external storage, and the driver module; the Ethernet communication interface is connected with the Ethernet; the driver module is connected with the motor. The system provides the Ethernet based manipulator motion control system with well real-time performance, high performance, and high precision.
Description
technical field [0001] The invention relates to the field of manipulator motion control, in particular to a manipulator motion control system. Background technique [0002] At present, the domestic manipulator industry is developing rapidly. With the development of productivity and the advancement of equipment technology, the requirements for manipulator control technology are getting higher and higher. The traditional structure of the manipulator control system can no longer meet the requirements for high-performance control of manipulators. A high-performance motion control system needs to convert the ideal motion curve into the motion of the motor through motion planning and interpolation in real time. A large amount of data needs to be transmitted between the control unit and the servo drive unit, but most of the current manipulator control systems are connected by serial ports and motion axis cards. This connection method has limited transmission distance, low data exch...
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IPC IPC(8): B25J9/18
Inventor 董辉高阳吴祥罗立锋仲晓帆李晓宇
Owner 杭州展晖科技有限公司