Robot control method, robot control system

Abstract

The invention discloses a robot control method and system. The robot control method comprises the steps that an ARM processor obtains instruction data issued by a central control unit; the obtained instruction data is stored in a dynamic cache area of the ARM memory; and when the instruction data stored in the dynamic cache area reaches a preset frame number, instruction data is sequentially called according to the reading period, and the called instruction data is sent to a motion controller of a robot. By the adoption of the technical scheme, the motion controller of the robot can fix time delay (determined according to the preset frame number) to execute the task of controlling robot motion, and therefore influences brought by network delay can be weakened or even eliminated.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a robot control method and a robot control system. Background technique [0002] Network delay refers to the transmission of various data (for example, data packets, communication instructions, etc.) through network protocols (such as TCP / IP) in the network medium. The device responds slowly, causing network delays. [0003] A paper entitled "VOIP Jitter Buffer Control Algorithm Based on Delay Prediction" published in "Journal of Lanzhou University of Technology" Volume 40 No. 6 discloses a jitter buffer control algorithm based on delay prediction. Since network delay jitter is one of the important factors affecting VOIP voice quality, in order to eliminate delay jitter and improve VOIP voice quality, this paper proposes an adaptive jitter buffer control algorithm based on delay prediction. The algorithm adopts the AR model as the The delay sequence is modeled, and the delay is asy...

AI Technical Summary

Problems solved by technology

[0004] The delay jitter control provided by this paper is applied to voice transmission, but for the field of robot control, although the network delay can be reduced through prediction, it is impossible to accurately predict the network delay, and it is also impossible to accurately compensate the network delay.

[0005] The robot obtains the central control trajectory instructions through the network. Since the robot moves faster, network fluctuations will lead to a large error in the control accuracy and cause the robot's speed to jitter.

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