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A method for realizing the open bottom position command interface of robot controller

A technology of underlying location and implementation method, applied in computer control, program control, general control system, etc., can solve problems such as interface closure

Active Publication Date: 2019-06-11
无锡超通智能制造技术研究院有限公司
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  • Abstract
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  • Claims
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Problems solved by technology

[0004] In order to overcome the problem that the bottom position command interface of the robot dedicated controller is closed, the present invention proposes a method for realizing the open bottom position command interface of the robot controller

Method used

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  • A method for realizing the open bottom position command interface of robot controller

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Embodiment 1

[0028] refer to figure 1, taking the third-party task space trajectory planning pose node sequence data file transfer as an example to illustrate. After the task space trajectory planning is performed on the third-party platform, the pose node sequence data file is saved as a file in .bin format, and the trajectory data file is downloaded to the specified storage segment of the trajectory data in the RAM / ROM block through the network port. The main CPU enables the DMA controller by setting the corresponding bit of the DMA controller's register to 1. The DMA controller reads the pose node sequence data from the specified storage location in the RAM / ROM block to the cache block RAM, and the main CPU reads the pose node sequence in the cache block RAM through the internal bus controller A, And send it to the main CPU kinematics inverse solution module, and send the solved joint rotation angle sequence to the position control module, and the position control module realizes the j...

Embodiment 2

[0030] refer to figure 1 , taking the third-party joint space trajectory planning joint position node sequence online transmission mode as an example to illustrate. The third-party platform sends the joint position node sequence of joint space trajectory planning to the auxiliary CPU online in hexadecimal format through the Ethernet interface and UDP protocol, and the communication speed is 1kHz. When the secondary CPU receives a frame of data, it writes it into the cache module Block RAM, and the starting address is 0x0000. The main CPU reads the joint position node sequence in the cache module Block RAM through the internal bus A, and transmits it to the position control module. The position control module realizes the joint trajectory tracking through PD control. At the same time, the main CPU writes the joint position sequence into the joint position control command module through the internal bus A of the FPGA, and the auxiliary CPU can read the current joint position co...

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Abstract

The invention discloses a method for opening robot controller bottom layer position instruction interface, and the method comprises the steps: third-party task space trajectory planning pose node sequence data file transmission; joint space trajectory planning joint position node sequence data file transmission; task space trajectory planning pose node sequence online transmission; and joint space trajectory planning joint position node sequence online transmission. The third-party position instruction has two transmission modes including online transmission and offline transmission, and in instruction meaning, the third-party position instruction has two kinds of instructions including task space pose instruction and joint space position instruction. The bottom layer position instruction interface of an open-type robot controller supports the transmission modes and instruction meanings.

Description

technical field [0001] The invention belongs to the technical field of industrial robot control, and in particular relates to a method for realizing a robot controller to open an underlying position command interface. Background technique [0002] Industrial robots are the crown jewel of the manufacturing industry and will play an important role in the new generation of industrial revolution. In order to seize the first opportunity in the new generation of industrial revolution, my country has put forward the strategy of "intelligent manufacturing 2025" to strengthen the country, to deal with the challenges brought by industrial restructuring, high-quality manufacturing and population aging to the manufacturing industry. Especially in my country's Guangdong Province, Zhejiang Province and other developed manufacturing areas, the "machine replacement" plan has been launched to realize the upgrading and upgrading of the manufacturing industry and promote the development of the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor 陶涛吴玉强梅雪松赵飞杜志国李长骏
Owner 无锡超通智能制造技术研究院有限公司
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