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Embedded light manipulator control system based on rs485 bus

A RS485, embedded controller technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of difficult to achieve high-precision torque control, high-precision high-speed trajectory control, etc., to achieve good scalability, Superior performance without the effect of complex design

Active Publication Date: 2017-04-12
SUZHOU ELITE ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Not only is it difficult to achieve high-precision torque control, but it is also difficult to achieve high-precision high-speed trajectory control

Method used

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  • Embedded light manipulator control system based on rs485 bus
  • Embedded light manipulator control system based on rs485 bus
  • Embedded light manipulator control system based on rs485 bus

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Embodiment Construction

[0022] The present invention will be further described in detail below in conjunction with test examples and specific embodiments. However, it should not be understood that the scope of the above subject matter of the present invention is limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0023] The architecture of the present invention is as figure 1 As shown, it consists of three major components: the controller body of the robotic arm, the teach pendant and nodes. The number of nodes is related to the number of axes of the robotic arm and the number of IOs. The maximum node is determined by the RS485 communication rate. When the RS485 bus runs at 10Mbsp, Up to 32 nodes.

[0024] Such as figure 2 As shown, the controller body is composed of two core parts: the core control circuit based on Freescale's MCIMX6Q6AVT10AC multi-core embedded processor and the RS485 co...

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Abstract

The invention discloses an RS485 bus based embedded type lightweight mechanical arm control system. The system comprises a mechanical arm embedded controller, a demonstrator and at least one node device, wherein the mechanical arm controller is in communication connection with the demonstrator; the mechanical arm embedded controller is in communication connection with the at least one node device through a 4-20Mbps RS485 bus. According to the system, the control frequency is increased according to the speed advantage of the high-speed RS485 bus; meanwhile, the embedded system framework is adopted to greatly improve the reliability and cost advantages of the control system.

Description

technical field [0001] The invention relates to a manipulator control system, in particular to an embedded light manipulator control system based on RS485 bus. Background technique [0002] The light-duty robotic arm has the advantages of light weight, easy movement, flexible combination, and low cost. It is very suitable for modern production methods with multiple varieties and small batches, and all adopt modular combination methods, which have the advantage of mass production. Most of the existing light-duty manipulator control systems use PC-based host computer controllers and CAN bus. Due to the problems of PC cost, power consumption, and heat dissipation, as well as the multi-master and multi-slave network logic structure of CAN bus, it is difficult to apply to light-duty manipulators. When controlling, it is not very ideal. Taking CAN as an example, a 6-axis robotic arm, plus 2 general-purpose IO modules, has a total of 8 nodes, each node has 8 bytes of data, and CAN...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J13/00B25J9/16
Inventor 孙恺刘淼曹宇男魏巍
Owner SUZHOU ELITE ROBOTICS CO LTD