Method for dynamic reconstruction of control algorithm of industrial robot

Abstract

The invention relates to a method for dynamic reconstruction of a control algorithm of an industrial robot. A technique of updating the control algorithm online without disturbance without interrupting operation of a control system is provided, by using a third-party virtual controller technical method, without changing an original control system of the industrial robot, a control program constructed by the virtual controller can be run, undisturbed dynamic reconstruction of the control algorithm of the robot is realized, consistency of robot application is maintained, and real-time control task of the robot is satisfied; and when the control algorithm is dynamically adjusted, not only can attribute parameters be changed, but also the structure of the algorithm can be changed; and changingis carried out in the normal working state maintained by a control platform. According to the method for dynamic reconstruction of the control algorithm of the industrial robot, the control algorithmcan be dynamically reconstructed without disturbance without interrupting operation of the control system.

Description

technical field [0001] The invention belongs to the technical field of industrial automation software control, and in particular relates to a method for dynamic reconstruction of an industrial robot control algorithm. Background technique [0002] The traditional manufacturing industry is facing industrial upgrading and intelligent transformation. In the face of increasingly complex production processes, increasingly shortened production cycles and unstable industrial manufacturing environments, the flexible control of industrial robots in the field of automated production, response speed, etc. Performance requirements are getting higher and higher. The current manufacturing industry urgently needs a method that can dynamically modify the control algorithm of industrial robots. At the same time, in the process of industrial production control, the switching of industrial robot control tasks has a great impact on the production process and product quality. Therefore, we need...

AI Technical Summary

Problems solved by technology

[0003] At present, it is still a huge challenge for industrial robots to achieve dynamic reconfiguration of control tasks. The main reasons are as follows: First, robots produced by robot manufacturers use machine programming languages ​​and software tools, which are usually programmed offline in advance and then transmit control instructions to the robot. The controller basically cannot support the online programming of the robot collaborative control algorithm, which will cause the problem of high operating cost of the robot

At certain critical moments, shutting down the robot control system may cause system abnormalities and even harm humans; second, the switching of new robot control algorithms, compilation, and changes in software processes will cause large disturbances to the robot and affect the work of industrial robots. Quality; thirdly, the current method of dynamic reconstruction of industrial robot control algorithm is not simple, most of the existing research is to transform the original controller of the robot or use complex control algorithms, and the transformation process is complicated and the scalability is poor. And the algorithm is difficult to implement, and the technical cost is high

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