A distributed high real-time control system and method for a quadruped robot

A quadruped robot and control system technology, applied in the field of quadruped robot distributed high real-time control system, can solve problems such as inability to provide sufficient safety guarantee, inability to achieve real-time performance, error frames, etc., to shorten the control cycle frequency, Easy to implement, high real-time effects

Active Publication Date: 2021-09-24
SHANDONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The inventors of the present disclosure found that the maximum transmission rate of the CAN bus can only reach 1Mbps. In previous engineering experiments, the centralized architecture and the CAN bus were used to control the motion of a mechanical single leg with two degrees of freedom, and the bandwidth occupation ratio can reach 35%. , it can be speculated that using centralized CAN communication to control a three-degree-of-freedom single leg can achieve a bandwidth occupation ratio of nearly 50%, which is likely to cause communication congestion or error frames, which cannot provide sufficient security. Guaranteed, also unable to achieve real-time requirements

Method used

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  • A distributed high real-time control system and method for a quadruped robot
  • A distributed high real-time control system and method for a quadruped robot
  • A distributed high real-time control system and method for a quadruped robot

Examples

Experimental program
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Effect test

Embodiment 1

[0040] The present disclosure Example 1 provides a four-legged robot distributed high-real-time control system, such as figure 1 The show, including 1 computer (control terminal), 4 STM32 module master (control master), 12 driver slaves (control slave), three slaves corresponding to each primary station Topological connection, control system block diagram of each single leg figure 2 Indicated.

[0041] The four-foot robot distributed high-real-time control system of the present embodiment employs the EtherCAT protocol, the industrial computer runs the four-control algorithm and passes the information to the STM32 module main station through the CAN bus.

[0042] 4 STM32 modules run the single leg control algorithm as the EtherCAT master and pass the information to the drive slave, 12 drives as the EtherCAT slave receives the corresponding control instruction from the master station from the master, and the motor according to the main station control command Motion control, and the...

Embodiment 2

[0072] In Example 2 of the present disclosure provides a four-legged robot distributed high real time control method, the control flow chart is Figure 4 As shown, including the following steps:

[0073] The upper computer transmits instructions to the industrial computer, and the policy π in the industrial computer is based on the current state. i And award value R i Take action a i ;

[0074] Among them, the host machine passes the wireless network of the router, according to the TCP / IP protocol, data transmission according to the TCP / IP protocol, the host computer can transmit the corresponding instructions according to the different exercise gait of the quadruple robot, control the robot to step, diagonally Trojan, sprouting, etc.

[0075] After a positive motion, the indenter trajectory plan is planned, and the industrial computer calculates the foot-term desired position P. d , Foot-end current position P i With the foot end speed V and send it to the STM32 module;

[007...

Embodiment 3

[0080] The present disclosure Example 3 provides a four-legged robot, including the four-legged robotic distributed high-real-time control system according to Embodiment 1 of the present disclosure.

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Abstract

The disclosure provides a distributed high real-time control system and method for a quadruped robot, belonging to the technical field of robot control, including at least one control terminal, each walking single leg includes at least one control master station, and each kinematic joint includes at least one Control the slave station; the control terminal runs the multi-leg control algorithm and transmits the control command to the control master station, and the control master station runs the single-leg control algorithm and transmits the control command to the control slave station according to the received control command; the control slave station according to The control command of the control master station controls the motion of the motor, extracts the encoder pulse number and returns it to the control master station to determine the deflection angle of the joint motor, and the control master station sends the obtained data back to the control terminal in real time to realize the real-time control of the control parameters. Update: This disclosure effectively avoids the situation that the overall operating speed of the system is affected due to the overload of one node, and the distributed architecture also has strong flexibility and elastic scalability.

Description

Technical field [0001] The present disclosure relates to the field of robotic control technology, and in particular, to a four-legged robot distributed high-real-time control system and method. Background technique [0002] The statement of this section is merely the background technology related to the present disclosure, and it is not necessarily constituting the prior art. [0003] Realize the high-real time requirements of the leg-based robot control system, always a hotspot and puzzle in the area of ​​the robot. Currently, most leg-end robot control systems use CAN bus or RS485 bus, although they have many advantages such as long-term transmission, low cost, strong stability, but still in real time. [0004] The present disclosure found that the maximum transmission rate of the CAN bus only reached only 1 Mbps. In the previous engineering experiment, the centralized architecture and the CAN bus were used to perform one mechanical single-legged two degree of freedom of exerci...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1607
Inventor 周乐来吴磊李贻斌荣学文刘在阳
Owner SHANDONG UNIV
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