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Delta robot drive-control system

A technology of robots and subsystems, applied in general control systems, control/regulation systems, instruments, etc., can solve problems such as low efficiency, low communication efficiency, and limited number of networkable robots, and achieve cost-effectiveness and increase computing speed. Effect

Active Publication Date: 2016-03-02
GUANGZHOU INST OF ADVANCED TECH CHINESE ACAD OF SCI
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Problems solved by technology

[0003] In view of this, the present invention proposes a Delta robot drive and control system to solve the problems of low communication efficiency in robot networking, limited number of networkable robots, and low efficiency when the system performs large-scale and complex calculations in the prior art.

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Embodiment Construction

[0016] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments,

[0017] see figure 1 and figure 2 , the Delta robot drive control system of the present invention includes a main control subsystem, a control subsystem and a power supply module, the main control subsystem realizes robot dynamics calculation and closed-loop control, and the control subsystem realizes the control of the servo motor, so Two-way data cooperative transmission is performed between the main control subsystem and the control subsystem. The main control subsystem includes a F28M36 dual-core chip, and the F28M36 dual-core chip includes an ARM processor responsible for peripheral circuit monitoring and an ARM processor responsible for all calculations of the robot. DSP processor, the Delta r...

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Abstract

The invention discloses a delta robot drive-control system, comprising a main control subsystem, a control subsystem and a power supply module; the main control subsystem realizes robot dynamics operation and closed loop control; the control subsystem realizes the control of a servo motor; two-way data coordination transmission is performed between the main control subsystem and the control subsystem; the main control subsystem comprises an F28M36 double-core chip; the F28M36 double-core chip comprises an ARM processor in charge of monitoring peripheral circuits and a DSP processor in charge of all operation of the robot; the Delta robot drive-control system adopts an EtherCAT bus mode to connect the F283M36 double-core chip for realizing the high efficiency communication between an upper host and a robot child node; the power supply module is used for supplying power to the main control subsystem and the control subsystem; a DSP processor is adopted to increase the operation speed rate of the system and greatly increases the cost performance; and the EtherCAT bus communication mode enables the communication efficiency of all robots in one network to be played to the greatest extend.

Description

technical field [0001] The invention relates to the field of embedded computer control, in particular to a Delta robot drive control system. Background technique [0002] At present, the Delta robot drive controller developed by PA (PRECISEAUTOMATION) adopts the hardware architecture of ARM+FPGA+MODBUS / TCP to realize the control and networking of the robot, and the drive controller adopts the MODBUS / TCP point-to-point communication method to make The communication efficiency of the network is low, the number of robots that can be networked is limited, and the maximum number of robots that can be networked is 32, and the DSP processor is not used as the computing unit, which makes the system inefficient when doing large-scale and complex operations. Contents of the invention [0003] In view of this, the present invention proposes a Delta robot driving and control system to solve the problems of low robot networking communication efficiency, limited number of networkable ro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/418
CPCY02P90/02G05B19/4186
Inventor 林宁王卫军顾星祁玫丹
Owner GUANGZHOU INST OF ADVANCED TECH CHINESE ACAD OF SCI
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