Control method and device for robot operation system
A technology of an operating system and a control method, which is applied to the control device of the robot operating system, the non-transitory computer-readable storage medium, and the control field of the robot operating system, can solve the problem of not being able to stop in time, and achieve the prevention of accidental loss of control and rapid response. Effect
Active Publication Date: 2021-03-05
深兰机器人产业发展(河南)有限公司
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Problems solved by technology
[0003] In order to solve the above technical problems, the present invention provides a control method for the robot operation system, which can respond quickly when the upper computer or the lower computer or the motor driver is abnormal, prevent accidental loss of control, and prevent the robot from failing in time when encountering obstacles. Situation of stopping
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[0020] Next, the technical solutions in the embodiments of the present invention will be apparent from the embodiment of the present invention, and it is clearly described, and it is understood that the described embodiments are merely embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, there are all other embodiments obtained without making creative labor without making creative labor premises.
[0021] figure 1 A flow chart of a control method of a robot operating system according to an embodiment of the present invention.
[0022] In one embodiment of the invention, the robot operating system includes: a host machine, a lower aircraft, and a motor drive. Among them, the host computer can be a industrial computer, and the lower computer can be a control chip. The robot can be quickly responded by mounting a lower computer between the host computer and the motor driver.
[0023] Such as figure 1 As shown, the con...
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The invention provides a control method and device for a robot operation system. The system comprises an upper computer, a lower computer and a motor driver, and the method comprises the following steps: receiving a speed control instruction sent by the upper computer; delaying for a first preset time, and judging whether the lower computer receives the speed control instruction or not; If the condition that the lower computer does not receive the speed control instruction is determined, controlling the lower computer to send an emergency stop control instruction to the motor driver; delayingfor a second preset time, and judging whether the motor driver receives the emergency stop control instruction or not; and if the condition that the motor driver does not receive the emergency stop control instruction, controlling the motor driver to stop operation. According to the device and the method, when the upper computer or the lower computer or the motor driver is abnormal, quick responsecan be achieved, accidental out-of-control is prevented, and the situation that a robot cannot stop in time when encountering an obstacle is avoided.
Description
Technical field [0001] The present invention relates to the field of motor control technology, and more particularly to a control method of a robot operating system, a control device of a robot operating system, a computer device and a non-configurable computer readable storage medium. Background technique [0002] In the current robot control system, the industrial computer is directly connected to the servo driver through the USB CAN, and because the Linux system of the industrial computer is not a real-time system, it is impossible to respond quickly to the machine emergency event. Inventive content [0003] In order to solve the above technical problems, the present invention provides a control method of robot operating system, and can respond quickly, prevent accidental failure when an upper machine or a lower computer or a motor driver, prevent accidental out of control, and avoiding the robot when encountering impairment, Stop. [0004] The techniques used in the present ...
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IPC IPC(8): B25J9/16B25J19/06
CPCB25J9/16B25J19/06B25J9/161
Inventor 陈海波其他发明人请求不公开姓名
Owner 深兰机器人产业发展(河南)有限公司