Industrial robot platform with dual-core motion controller

Abstract

The invention relates to an industrial robot platform with a dual-core motion controller. The industrial robot platform comprises an industrial robot control system, a sensor system, a control system,a network integrated control system, a visual tracking system and an actuating mechanism, wherein the sensor system is connected to the industrial robot control system; a processor is a system on chip and comprises an interface layer, an algorithm control layer and a fault tolerant control layer; the interface layer is of an FPGA structure and is responsible for information exchange with a motorcontrol module and controlling a servo device; the algorithm control layer is of an ARM and DSP dual-core structure, the ARM core is responsible for various peripheral drives, and the DSP end is responsible for a large number of matrix floating point class calculation such as kinematic modeling, trajectory planning; and the fault-tolerant control layer uses a 32-bit controller, carries out real time monitoring on the interface layer and the algorithm control layer, and carries out fault-tolerant planning on faults according to feedback and operating commands, so that the safe and reliable operation of a system is ensure, the fault-tolerant control layer uses a servo calibration method, and meanwhile, a visual feedback interface is expanded, so that secondary correction of the later visualfeedback is realized.

Description

technical field [0001] The invention belongs to the field of industrial robots, in particular to an industrial robot platform with a dual-core motion controller. Background technique [0002] As the current level of industrial automation is getting higher and higher, it occupies an increasingly important position in all walks of life. They can perform a variety of complex tasks skillfully and accurately. These tasks may be impossible for humans to complete due to the limitations of the environment or other factors. of. The application scenarios of industrial robots mainly include auto parts manufacturing and assembly, mechanical automation manufacturing, production of toxic chemical products, standard assembly line operations, installation of high-risk environment equipment, nuclear radiation site operations, extreme environment operations, etc. [0003] The motion controller in the prior art has a single-core structure, and the control is not accurate and stable enough. ...

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Problems solved by technology

[0003] The motion controller in the prior art has a single-...

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