Intelligent control system, method and device for manipulator based on edge computing

Abstract

The invention belongs to the fields of industrial robots, intelligent control, and edge computing, and discloses an edge computing-based intelligent control system, method, and device for a manipulator, aiming at realizing low-latency, high-security intelligent control of the manipulator. The system includes robotic arms, sensors, central cloud, edge cloud, and edge nodes; the central cloud is equipped with an algorithm file library; the edge cloud obtains the corresponding algorithm files from the central cloud to configure the algorithm program, and obtains the control law model based on the training data. Or construct a 3D model of a virtual scene based on industrial site images; edge nodes obtain sensor information and send it to the edge cloud for calculation; based on the deployed control law, calculate the control amount of the robotic arm. The present invention uses the edge cloud as the core processing platform, cooperates with the central cloud and the device end, and realizes the low-latency, high-security intelligent control of the industrial robot arm on the edge side of the factory.

Description

technical field [0001] The invention belongs to the field of industrial robots, intelligent control and edge computing, and specifically relates to an edge computing-based intelligent control system, method, and device for a manipulator. Background technique [0002] Industrial robotic arms are widely used in industrial sites such as automatic handling, assembly, welding, and spraying. They are indispensable key equipment for the manufacturing industry. Therefore, the control technology for industrial robotic arms is a key technology for the manufacturing industry, and it can also improve the level of my country's manufacturing industry. important technology. However, industrial manipulators generally have multiple kinematic joints (of which six degrees of freedom are the most common), and have many dynamic parameters that are difficult to measure, which leads to the control system of industrial manipulators being strongly coupled and highly nonlinear. and uncertain complex ...

AI Technical Summary

Problems solved by technology

However, the application of intelligent control theory and methods to the actual control of industrial manipulators will bring many problems: the theoretical algorithms are aimed at each control stage and are independent of each other, while the intelligent control system needs to combine them organically Together, they constitute a complete set of intelligent control processes to ensure the overall intelligence; in addition, intelligent control is different from traditional control methods, and it requires a large amount of computing resources for training based on algorithms and data, which leads to factories needing Possess powerful intelligent computing capabilities, and also need to ensure low latency and high security in the process

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