Robot distributed control system and method thereof

Abstract

The invention discloses a robot distributed control system and a method thereof. The robot distributed control system comprises a main controller, a plurality of sub-controllers and a plurality of drivers which correspondingly communicate with the main controller, and control modules electrically connected with the sub-controllers, wherein the main controller is used for splitting a control task of the whole robot into a plurality of small tasks and sending the small tasks to the corresponding sub-controllers, receiving processing results fed back by the sub-controllers, and correspondingly controlling the corresponding drivers according to the processing results; the plurality of sub-controllers are used for receiving the small tasks sent by the main controller, generating corresponding processing results for the small tasks and sending the processing results to the main controller; and the plurality of drivers are used for receiving the corresponding processing results sent by the main controller and driving the corresponding control modules. According to the robot distributed control system and the method thereof, the research and development risk and cost of the overall schemeare greatly reduced, the confidentiality of the whole control is greatly improved, and meanwhile, an expansion space is provided for robot group coordination control.

Description

Technical field [0001] The invention relates to the technical field of robot control, in particular to a robot distributed control system and a method thereof. Background technique [0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device oriented to the industrial field. It can automatically perform work and is a machine that realizes various functions by its own power and control capabilities. It can be commanded by humans, and it can also be run in accordance with pre-arranged programs. Modern industrial robots can also act according to the principles and guidelines formulated by artificial intelligence technology. With the development of computers and automatic control theory, the needs of industrial production and the advancement of related technologies, the development of industrial robots has gone through three generations: programmable teaching and reproducing robots; sensor-based robots with certain autonomous capabilities; int...

AI Technical Summary

Problems solved by technology

The disadvantage of this method is that as the robot needs to achieve more and more functions, including trajectory planning, force control, collision detection, visual image processing, and even speech recognition, deep learning, etc., the amount of calculation is getting larger and larger. And the limitation of computing speed puts higher and higher requirements on the hardware of the robot controller, and the cost also soars

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