Clock synchronization method, robot control system and robot

Abstract

The invention relates to the technical field of robot control, and discloses a clock synchronization method, a robot control system and a robot. The clock synchronization method is applied to the robot control system and comprises the following steps that a motion controller sends motion control data to a servo controller in a first period; meanwhile, the motion controller sends a trigger signal to the servo controller in the first period; and the servo controller modulates a clock of the servo controller to synchronize with a clock of the motion controller based on the received motion controldata and the trigger signal; and the real-time performance of clock synchronization is met, so that the speed fluctuation or jitter of the robot in the high-speed running process is greatly reduced,the running track precision of the robot at a high speed is improved, and finally the overall control performance of the controller under high bandwidth response is improved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a clock synchronization method, a robot control system and a robot. Background technique [0002] The industrial robot drive and control integrated controller integrates a set of motion controllers and multiple servo controllers, which greatly reduces the external interference caused by the network cable communication and interaction between the original two sets of controllers, and fully considers More real-time data of servo closed-loop feedback is used for global optimal control, which improves the overall control performance of the robot, greatly enhances the anti-disturbance performance of the robot, reduces the overall cost of the product, and makes signal cable wiring easier. The main trend of industrial robot control. [0003] Due to the different control periods and control methods of motion control and servo control, the motion controller and the servo controller...

AI Technical Summary

Problems solved by technology

[0003] Due to the different control periods and control methods of motion control and servo control, the motion controller and the servo controller each have a clock source. The control interpolation data fails to be received synchronously by the servo and processed by the three-ring algorithm in time, which will lead to greater fluctuations in the high-speed operation of the robot and even a sudden change in speed over time, resulting in increased jitter and reduced control performance and accuracy of the robot during high-speed operation. The processing of clock synchronization is very important

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