Control system of teaching robot based on single processor structure

Abstract

A teaching robot control system based on a single processor structure adopts a four-level hierarchical structure. The application layer realizes data exchange between the two layers by calling the dynamic link library interface function provided by the task management layer. The task management layer and the scheduling planning layer The method of inter-process communication is used to realize the data exchange between the two layers. The scheduling planning layer and the motion control layer run in the same process in the real-time environment, and complete the data exchange between each other through the global object. The motion commands are transmitted to the stepper motor driver and the AC servo motor driver through the ISA bus and the I / O data interface card respectively, and the angle encoder collects and transmits the rotation angle value to the PC, and the step is completed through the open-loop control program. The open-loop control of the motor is completed through the closed-loop control program to complete the closed-loop control of the AC servo motor, and is connected to the Ethernet through the network card. The invention can realize the working mode of "many people, one machine", and improve the utilization rate of the teaching robot.

Description

Technical field: [0001] The invention relates to a teaching robot control system based on a single processor structure under a PC environment, belonging to the field of electromechanical control. Background technique: [0002] At present, almost all PC-based industrial robot and teaching robot control systems at home and abroad adopt multi-processor (CPU) structure, and most of them have two-level master-slave processor structure. Considering that a complete robot controller needs to complete a large number of real-time and non-real-time complex tasks, the multi-processor structure has obvious advantages such as fast response and strong real-time processing ability compared with the single-processor structure. British Feedback Instruments Group ( www.fbk.com.cn ) produced SERPENT EC and GRYPHON EC teaching robots, the control system consists of two parts, the upper computer part is a PC, responsible for completing tasks such as management and planning; the lower computer pa...

AI Technical Summary

Problems solved by technology

[0003] 1. The structure of the control system is relatively complex, the cost is high, and the reliability is also affected

[0004] 2. The lower CPU of the control system is less open, which is not conducive to the experimental teaching of the control course

[0005] 3. Only "one person, one machine" can be used, and the efficiency of teaching robots is not high

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