Driving and control integrated system of robot joints

Abstract

A driving and control integrated system of robot joints comprises a control module, a driving module, a sensing module and a communication module, wherein the control module is connected with the driving module through an analog quantity interface and a digital quantity interface, outputs a motion control instruction of a motor of the robot joints, receives a motor current signal from the drivingmodule and encoder pulse information and acquires speed and accelerated speed signals of the current motor; the sensing module acquires sensor data in the robot joints and feeds back to the control module; and the communication module uploads the sensor data, the motion control instruction and the motor motion state data to an upper computer through a bus and downloads a control instruction whichis transmitted to the robot joint control module by the upper computer from the bus; and the upper computer and a lower computer adopt a master-slave communication control mode, and the exchanged datais subjected to two-way transmission on the bus.

Description

technical field [0001] The invention relates to a technology in the field of automation control, in particular to an integrated system for driving and controlling robot joints. Background technique [0002] Robots are more widely used in daily production and life, and play an important role in industry, medical treatment, service and other fields. In the face of different application environments, more complex requirements are put forward for the robot's configuration, workspace, and degrees of freedom. The traditional robotic arms currently on the market are limited by the overall cost, market demand, and mass production, which is often not conducive to users customizing robots according to their own application scenarios. For this reason, the concept of robot standard integrated robot joints came into being. The free combination of integrated robot joints can not only shorten the development cycle of the robot, but also adapt to various special tasks, while reducing the ...

AI Technical Summary

Problems solved by technology

[0003] Aiming at the defect that the existing modular reconfigurable robot cannot detect the internal temperature state of the joints, and cannot directly provide the space absolute pose of each joint, its acceleration in each direction, angular velocity and other information, the present invention proposes a drive control for robot joints The integrated system can provide three control modes of speed, position and current, and can also collect the temperature and motion sensor data in the robot joints. The upper computer and the lower computer transmit data through the high-speed field bus to realize the closed-loop feedback control of each joint.

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