Multi-joint robot integrated cooperative control device and method

A multi-joint robot and collaborative control technology, which is applied in the control of electromechanical transmission, motor control, motor generator control, etc., can solve difficult standardization and other problems, and achieve the effect of simplified calculation and convenient digital processing

Pending Publication Date: 2018-11-06
NANJING INST OF TECH
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

Difficult to standardize in the pr

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  • Multi-joint robot integrated cooperative control device and method
  • Multi-joint robot integrated cooperative control device and method
  • Multi-joint robot integrated cooperative control device and method

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Example Embodiment

[0051] The present invention will be further explained below in conjunction with the drawings.

[0052] An integrated collaborative control device for multi-joint robots, including a PC, a DSP control unit and several robot joint control units;

[0053] The PC is connected with the DSP control unit, and the robot joint control unit is connected with the DSP control unit through the bus;

[0054] The robot joint control unit includes an FPGA data acquisition unit, an isolation drive unit and a joint motor; the FPGA data acquisition unit, the isolation drive unit and the joint motor are sequentially connected in sequence.

[0055] The PC is equipped with Matlab software or Labview software, and the multi-motor cooperative control simulation model is built on the PC to verify the algorithm, and the C code generated by the simulation model is downloaded to the DSP control unit for operation.

[0056] Such as image 3 As shown, the FPGA data acquisition unit includes an FPGA module, a first ...

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Abstract

Embodiments of the invention disclose a multi-joint robot integrated cooperative control device and method, relating to the technical field of robot control, solving the problem of low degree of openness of a multi-joint robot control algorithm and shortening development cycle. The multi-joint robot integrated cooperative control device comprises a PC, a DSP control unit, an FPGA data collection unit, an isolated drive unit, a joint motor, and a cooperative control algorithm. Algorithm simulation and real-time code generation are performed on the PC, the code is downloaded to the DSP control unit to run in real time, and finally, the FPGA data collection unit and the isolated drive unit control the joint motor to run, so as to realize multi-joint robot integrated cooperative control. The device and method are suitable for controlling running of the multi-joint robot.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to an integrated cooperative control device and method for a multi-joint robot. Background technique [0002] Multi-joint robots have a high degree of freedom and can complete most of the trajectory or angle work; programmability, planning the trajectory according to the work content. The research on multi-joint robots has expanded from traditional industrial fields to new fields such as medical services, education and entertainment, and exploration and surveying. The control methods of multi-joint robots that meet the needs of different fields have also been deeply researched and developed; [0003] At present, the multi-joint robot control device lacks independence, and its function depends on the tasks that the multi-joint robot needs to complete. The parameters used in the servo of the control device and the planning algorithm come directly from the main body: the underlyi...

Claims

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Application Information

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IPC IPC(8): H02P5/50H02P21/22H02P25/026H02P27/08
CPCH02P5/50H02P21/22H02P25/03H02P27/08H02P2205/01
Inventor 黄家才胡凯季希宁朱嘉伟吕思男
Owner NANJING INST OF TECH
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