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Multi-task cooperation and information synchronization method for mechanical arm system in high-speed continuous movement

An information synchronization, robotic arm technology, applied in multi-programming devices, program startup/switching, program control design, etc., can solve the problems of increasing data density and the difficulty of matching between data, reducing the amount of calculation and occupying less resources , the effect of reducing system resource consumption

Active Publication Date: 2021-07-02
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the increase in data density per unit time also increases the difficulty of matching between data

Method used

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  • Multi-task cooperation and information synchronization method for mechanical arm system in high-speed continuous movement
  • Multi-task cooperation and information synchronization method for mechanical arm system in high-speed continuous movement
  • Multi-task cooperation and information synchronization method for mechanical arm system in high-speed continuous movement

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Embodiment Construction

[0088] Preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, but the following embodiments are only illustrative, and the protection scope of the present invention is not limited by these embodiments.

[0089] Such as figure 1As shown, the whole robotic arm system includes two parts: the robotic arm hardware subsystem and the robotic arm software subsystem. The hardware subsystem of the manipulator includes the main body device of the manipulator, the controller of the manipulator and the external sensor device; the controller of the manipulator includes a communication bus interface; the external sensor device establishes a communication connection with the controller of the manipulator through the communication bus interface, and the external sensor device can High-speed periodic sensing sampling and sending sensing data, the frequency of sensing sampling and sensing data sending is preset by the user, for...

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Abstract

The invention relates to a multi-task collaboration and information synchronization method for a mechanical arm system in high-speed continuous movement. A mechanical arm hardware subsystem and a mechanical arm software subsystem are included. The mechanical arm software subsystem comprises a mechanical arm operating system, a mechanical arm application program set and a data storage center; and a sensor data reading module of the mechanical arm application program set reads the sensing data from the communication data buffer area, and if effective data is obtained, the current moment is recorded as a sensing data obtaining time global value. And the mechanical arm working data quick acquisition module quickly calculates and acquires mechanical arm working data directly associated with the actual working task of the mechanical arm. And the data synchronous matching module processes the sensing data, and synchronous matching is conducted on the sensing data and the working data of the mechanical arm. The mechanical arm application program set and the external monitoring system jointly achieve work state obtaining, external sensing, data synchronous matching and external monitoring cooperation among various types of tasks of the mechanical arm body device under the high-speed motion condition.

Description

technical field [0001] The invention relates to a multi-task coordination and information synchronization method of a mechanical arm. More specifically, the present invention relates to a method for multi-task coordination and information synchronization of a manipulator system in high-speed continuous motion. Background technique [0002] Robotic arms, especially industrial robotic arm devices, have been widely used in the manufacturing field. For tasks that do not require high precision such as handling and palletizing, the related technologies have basically matured. In recent years, people have begun to try to apply robotic arms to tasks with high precision and high speed, such as precision testing and precision assembly in the field of electronic manufacturing, and thus a series of new technical problems have arisen. [0003] The above-mentioned precision operation tasks not only require continuous and high-speed movement of the robotic arm to meet the strict task time...

Claims

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Application Information

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IPC IPC(8): G06F9/48
CPCG06F9/4843
Inventor 贾文川王钰马书根袁建军孙翊蒲华燕鲍晟张晓龙
Owner SHANGHAI UNIV
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