Restructuring collaborative robot joint integrated drive control system, method and application

Abstract

The invention belongs to the technical field of power electronics and servo control, and discloses a restructuring collaborative robot joint integrated drive control system, method and application. The restructuring collaborative robot joint integrated drive control system comprises a driving panel and a control panel, wherein a driving panel is used for driving a servo motor, controlling a main inverter circuit to drive the servo motor after isolation of a control signal is realized as well as realizing phase current detection and overcurrent protection functions; and a control panel is usedfor realizing driving of the motor and information acquisition of an internal sensor in a restructuring robot joint and controlling a permanent magnet synchronous motor in the joint through adopting vector control so as to achieve three-closed-loop control of motor driving current, motor rotating speed and an output end position. According to the restructuring collaborative robot joint integrateddrive control system, method and application, comprehensive coverage of joint requirements of the collaborative robot is achieved, a continuous peak phase current output expectation reaches 19.0 A, and the maximum efficiency expectation reaches 99%; meanwhile, an efficient vector control algorithm is realized to carry out motor control, and six paths of drive board control signals are output; andfinally, accurate control of the motor position is realized.

Description

technical field [0001] The invention belongs to the technical field of power electronics and servo control, and in particular relates to a joint-integrated drive control system, method and application of a reorganized collaborative robot. Background technique [0002] At present, the closest existing technology: collaborative robot is to realize the safe interaction function with the external environment and people. It is the core requirement to have high-performance compliant motion. The basis of compliant motion performance is the mechanical body structure with high load / weight ratio. and high-performance drive control system. In terms of mechanical body structure, collaborative robot joints generally adopt a transmission strategy that combines high-torque permanent magnet torque motors with harmonic reducers. In terms of drive control, in recent years, a new model has emerged, that is, the motion control remains unchanged, and the servo drive and servo motor are integrat...

AI Technical Summary

Problems solved by technology

The integration of drive and control is to integrate the controller and the driver. Its advantages include: small size, light weight, flexible deployment, low cost and high reliability, and can complete complex control algorithms. Due to the limited arm joint space, it is difficult to develop highly integrated systems. To achieve multifunctional drive control to ensure the high performance and safety of the integrated drive control system is the most difficult point of drive control integration, and the high integration system lacks scalability. , the application of different data acquisition methods requires different interfaces, once the design of the integrated drive and control system is completed, it will be troublesome to expand

[0005] (1) Considering the space size and high integration of collaborative robot joints, it is difficult to integrate multi-functional servo drive and motion control into the underlying embedded system, and it is difficult to develop an integrated high-performance drive control system

[0006] (2) It is difficult to implement the parallel three-closed-loop permanent magnet synchronous motor control algorithm in the way of hardware programming. How to implement each control algorithm in the way of hardware programming and how to connect each module of each control algorithm with each module of data acquisition Connectivity is the core problem

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