Multi-robot control synchronization system and method based on distributed clocks

Abstract

The invention discloses a distributed control system and a distributed control method, in particular to a multi-robot control synchronization system and a multi-robot control synchronization method based on distributed clocks. The multi-robot control synchronization system comprises a master controller and a plurality of slave controllers, wherein the master controller is used for acquiring link structures of the plurality of slave controllers so as to determine a network topology of the distributed control system, completing initialization of the plurality of slave controllers, acquiring timestamp information of the plurality of slave controllers, calculating conduction delay and initial deviation of each slave controller relative to the master controller separately, and judging whether the plurality of slave controllers are synchronized with the master controller; and if so, the master controller sets a synchronization cycle of the distributed control system, and data exchange and clock drift compensation are conducted between the master controller and the plurality of slave controllers within the synchronization cycle. The invention further provides the distributed control method. Through effectively improving the utilization rate of network bandwidth and reducing complexity of connection between control systems, the jitter among the controllers is reduced to the minimum.

Description

technical field [0001] The invention relates to the technical field of automation control, in particular to a multi-robot synchronous control system and method based on distributed clocks. Background technique [0002] With the continuous development of the automation industry, each production line puts forward higher requirements on the production efficiency and product quality of products. Flexibility, integration, multitasking, and synchronization have become the characteristics that robot control systems must possess. In order to meet the requirements of modern manufacturing industry, multi-robot cooperative work has become a development trend; based on this, how to realize multi-robot cooperative motion control on the basis of open architecture software and hardware has become one of the focuses of current research in the field of industrial robots. [0003] For the synchronous control technology of multi-robots, the following control strategies are currently available...

AI Technical Summary

Problems solved by technology

However, there is still room for improvement in terms of data communication efficiency and clock synchronization algorithms among robot working groups.

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