Robot flexible controller for complex CPS (Cyber Physical System) and implementation method thereof

Abstract

The invention relates to a robot flexible controller for a complex CPS (Cyber Physical System) and implementation method thereof, and belongs to the technical field of intelligent manufacture and control. The controller comprises a robot model module, a control algorithm module, a sensor module, an observer module and a dynamic connection module. The method comprises the steps of describing and analyzing a task; describing, by the dynamic connection module, a connection rule among the robot model module, the control algorithm module and the sensor module, and defining a performance index according to needs; generating, by the dynamic connection module, a dynamic connection table according to a customized rule, and selecting a control algorithm in accordance with the performance index in the control algorithm module by simulation comparison; generating an executable real-time simulation code, downloading the executable real-time simulation code to the controller and performing real-time operation. The controller does not aim at individual models of robots, and is suitable for controlling multiple models of robots due to the standard and modular design idea.

Description

technical field [0001] The invention relates to a robot flexible controller used in a complex information-physical fusion system (CyberPhysicalSystem, CPS) and an implementation method thereof, belonging to the field of intelligent manufacturing control. Background technique [0002] Combined with statistics from the International Federation of Robotics, nearly 37,000 industrial robots were sold in the Chinese market in 2013, accounting for about one-fifth of global sales. The total sales surpassed Japan to become the world's largest robot market. However, the development of my country's industrial robot industry is relatively late. Affected by factors such as related technologies and processing techniques, 80% of China's market share is occupied by four major companies: ABB, FANUC, Yaskawa and KUKA. The market share of domestic independent brands of robots is only about 8%. As one of the core key technologies of industrial robots, the robot control system will surely benef...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the demand for cyber-physical fusion of industrial flexible production of complex systems, the technical problem to be solved by the present invention is to provide a robot flexible controller for complex CPS and its implementation method, and the dynamic discovery and implementation of distributed components in a dynamic environment. Function encapsulation and driving of self-organizing and component-based cyber-physical fusion system

Images