Drive-control integrated control system and control method for articulated manipulator

Abstract

The invention belongs to the field related to robot controllers, and particularly relates to a driving-and-control-integrated control system and a control method for a joint-type mechanical arm. According to the driving-and-control-integrated control system, main control of a robot control system and motor movement control are finished by utilizing one integrated ARM-DSP chip; external interface communication, power control and electric current loop design are realized by utilizing two FPGA chips; and at most 7 paths of servo motors are subjected to time-sharing control by utilizing one DSP chip. The driving-and-control-integrated control system has the advantages that communication data interaction between the ARM and DSP chips adopts a internal storage access mode, so that data interaction speed is the highest; a no-operation system scheme and a hardware interrupting real-time scheme are adopted, so that the real-time property of the system is improved to the greatest extent; a Cartesian space kinematics calculation result is secondarily optimized in a joint space, so that movement smoothness of the motors is ensured; and a software and hardware parallel processing mechanism is adopted, and an uninterrupted data "interaction-use-refilling" process is designed, so that system data interaction and use do not interfere with each other.

Description

technical field [0001] The invention belongs to the related field of robot controllers, and in particular relates to a drive-control integrated control system and control method of a articulated mechanical arm. Background technique [0002] In the field of articulated manipulator design based on kinematics control methods, there are mainly (1) CPAC robot control system, (2) CRP-S80 industrial robot control system and (3) KeMotion robot control solution; The field of system design mainly includes (4) drive-control integrated controller and control system, (5) open drive-control integrated industrial robot controller research and development, and (6) Zhongweixing QC drive-control integrated system. [0003] For the robot control system described in the scheme (1), the key technology lies in the realization of the inverse kinematics path planning solution technology, the singular point avoidance method and the real-time design of the operating system. The inverse kinematics pat...

AI Technical Summary

Problems solved by technology

[0004] For the solutions described in (1)~(6), there are shortcomings such as high cost, incomplete real-time solution, secondary integration and cannot be used directly; some of them also take too long to solve the singularity problem, The drive-control integrated design scheme is incomplete, the secondary development interface after packaging is complex, the technical threshold for use is high, the system hardware is too complex, the stability needs to be improved, and the load power is limited.

[0005] As a result of (1), the above-mentioned solution is that the main controller of the system uses an INTEL architecture industrial computer with high cost, and the WINCE kernel transformation of the operating system can only ensure soft real-time. There is no hard real-time control mechanism at the time of the operating system architecture design, and the singularity resolution algorithm Too single, the designed product is the main controller of the robot control system, and the drive part and accessories are not designed into it, so it needs to be integrated into the control cabinet for a second time before it can be practically applied in the industry

The reason for the shortcomings of the solutions described in (2) and (3) is that the main controller uses an INTEL architecture industrial computer with high cost, and the operating system directly uses the WINDOWS system without considering the real-time design. The product of the designed solution is the main controller of the robot control system. , the driving part and accessories are not designed in, so it needs to be integrated into the control cabinet for the second time to be practically applied in the industry

The reason for the shortcomings of the solution described in (4) is that the main controller uses an INTEL architecture industrial computer with high cost, and the operating system has copyright costs. In the drive-control integration solution, only the control part of the traditional servo driver is designed without designing the power module and Amplified module, the designed product is the main controller of the robot control system, without the design of the drive part and accessories, so it needs to be integrated into the control cabinet for a second time to be practically applied in the industry

The reason for the shortcomings of the scheme (5) is that the main controller uses an INTEL architecture industrial computer with high cost, and the operating system has copyright costs. In the drive-control integration scheme, only the control part of the traditional servo drive is designed without the design of the power module and amplifier. Module, the open interface after packaging involved belongs to the category of advanced software development, which has high technical requirements for designers. The product designed is the main controller of the robot control system, and the driving part and accessories are not designed into it, so it needs to be integrated into Only in the control cabinet can the practical application in the industry

The reason for the shortcomings of (6) belongs to the use of multiple embedded control chips. According to incomplete analysis, the system uses at least 1 ARM chip, 2 FPGA chips, and 9 DSP chips, which makes the system too complicated and stable. The complexity of the main control system leads to excessive power consumption, which limits the power of the power supply and servo amplifier module. The package of the control system is box-type package, and the field anti-interference ability is limited. Good fixed installation, so it needs secondary integration as a control cabinet before it can be used in the actual production line

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