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Robot motion control system

A robot motion and control system technology, applied in digital control, electrical program control, control using feedback, etc., can solve the problems of poor system openness, poor versatility, and poor scalability, so as to reduce communication bandwidth and avoid unpredictability Errors, effects of strong versatility

Active Publication Date: 2015-06-10
HARBIN INST OF TECH
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  • Summary
  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a robot motion control system to solve the problems of poor versatility, poor scalability, and poor system openness in existing robot motion control systems

Method used

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Embodiment

[0066] The software developed based on the robot control system of the present invention includes the main program software at the server end of the control system. It has an interface to communicate with the controlling terminal, a mechanism to process terminal commands, and an interface to communicate with the underlying hardware. That is, the robot controller software includes a communication interface with the upper-level control terminal, a method for parsing and executing commands from the upper-level control terminal, and a communication interface for deploying underlying hardware;

[0067] The server main program structure is as follows figure 1 As shown, the subroutine instruction interpreter is used to process the commands sent from the user terminal to the server, and through the MoveIt! Plan the movement of each joint of the robot and pass it to the subroutine PMAC interactive module; the PMAC interactive module converts the trajectory planning result into a comma...

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Abstract

The invention discloses a robot motion control system, relates to the technical field of robot motion control, and aims to solve the problems of poor universality, poor extensibility and poor system openness existing in the existing robot motion control system. A control terminal subsystem comprises a human-computer interaction interface and a working thread module; a server terminal subsystem comprises an instruction interpreter, a server and an interaction module; a user transmits an operation instruction through the human-computer interaction interface; the operation instruction is converted into an instruction which can be recognized by the instruction interpreter by using the working thread module and is transferred to the instruction interpreter through network; the instruction interpreter is used for converting the received instruction into a joint path command by calling MoveIt ! and releasing on a node of an ROS (Read Only Storage) server; a PMAC (Programmable Multi Axis Controller) interconnection module receives the joint path command from the ROS server and converts into a motion control instruction through a PMAC communication protocol and transfers to PMAC through network. The system has higher modularization degree and extremely strong universality and can be compatible with various multi-degree-of-freedom series robots.

Description

technical field [0001] The invention relates to interactive software for robot motion control, and relates to the technical field of robot motion control. Background technique [0002] Industrial robots are important automation equipment for modern manufacturing that integrates multidisciplinary advanced technologies such as machinery, electronics, control, computers, sensors, and artificial intelligence. The robot control system and its control terminal are an important part of the robot. For many years, the general robot control system has been the research topic of scholars and various manufacturers, mainly due to the lack of a general kinematic solver and trajectory planner. Therefore, the development of robot motion control systems has been limited; for robot control systems, foreign countries have always been in a monopoly position. The control systems and control terminals of foreign manufacturers generally only have certain compatibility with free-brand robots, but n...

Claims

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Application Information

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IPC IPC(8): G05D3/12G05B19/18
Inventor 杜志江董为高永卓苏衍宇
Owner HARBIN INST OF TECH
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