Driving and control integrated control system used for collaborative robot

Abstract

The invention discloses a driving and control integrated control system used for a collaborative robot. The driving and control integrated control system used for the collaborative robot comprises one or more motor driving modules and a multi-core real-time controller, and real-time interaction of motor state parameters and control parameters is achieved through reflective memory mechanism. The control system further comprises an upper computer. The multi-core real-time controller is an X86 real-time controller. The motor driving modules are FPGE driving modules which are connected with a controlled motor. For meeting the requirements for the collaboration, compossibility and safety of the collaborative robot on the market, the technical scheme supporting reflective memory sharing to achieve the driving and control integrated control system for the collaborative robot is provided, and a realization platform is provided for novel control algorithms for speed feed-forward, acceleration feed-forward, smoothness control and the like of the collaborative robot.

Description

technical field [0001] The invention relates to the technical field of computer intelligent manufacturing control, in particular to a drive-control integrated control system for collaborative robots. Background technique [0002] A collaborative robot is a robot that can safely interact directly with humans within a certain area. Generally speaking, the operation of collaborative robots is relatively simple. It is a branch of industrial robots, and its price is much cheaper than traditional industrial robots. [0003] Unlike traditional industrial robots, collaborative robots are not in the same class as it in size. In order to achieve the purpose of "collaboration", the working distance between robots and humans cannot be too far. Therefore, the size of collaborative robots is relatively small, and they can even be placed directly on normal workbenches. [0004] Additionally, flexibility is integral to being a collaborative human being. Take KUKA's collaborative robot LB...

AI Technical Summary

Problems solved by technology

[0010] At present, most industrial robots still use a distributed control method with one motion controller and multiple servo drives. In practical applications, there are problems such as high redundancy of system hardware, easy interference of signal transmission, and high price.

At the same time, the design of the distributed architecture leads to a bottleneck in the transmission rate of signals, which limits the real-time and rapidity of industrial robots, while collaborative robots need to judge whether they are in contact with people in a short time and respond immediately

At the same time, new control algorithms such as speed feedforward, acceleration feedforward, and compliance control can only stay in the simulation stage due to the separation of the controller and the driver.

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