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Motor controlling method for opened robot controller

An open robot and motor control technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of lack of openness, inability to change the state of the motor control system, and inability to support motor control software.

Inactive Publication Date: 2005-11-02
TSINGHUA UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

First of all, although this method can clearly describe the composition and connection relationship of the motor control system, it cannot describe the behavior of each component in the motor control system, let alone analyze the state changes of the entire motor control system.
Secondly, this method cannot support the whole process of motor control software development and implementation
Finally, the program composition block diagram of the motor control software lacks the corresponding relationship with the object components (control classes realized by object-oriented thinking) in modern configuration control software, and lacks strong support for open features

Method used

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  • Motor controlling method for opened robot controller
  • Motor controlling method for opened robot controller
  • Motor controlling method for opened robot controller

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Embodiment Construction

[0024] The open robot controller motor control method that the present invention proposes is described in detail as follows in conjunction with accompanying drawing and embodiment:

[0025] The motor control method of the open robot controller that the present invention proposes, such as figure 1 As shown, it can be mainly divided into 5 steps:

[0026] 1) According to the requirements of the application, an object-oriented Time Hierarchical Petri Net (TOPN) model of the motor control of the open robot controller is established;

[0027] 2) According to the time constraints of each object in the constructed TOPN model, the integer linear programming method is used to calculate the overall time constraints of the model, and the time constraints of each object are converted into relative to the time when the entire TOPN model is executed. Relative time constraints;

[0028] 3) Analyze the state changes of the TOPN model to check whether there are design logic errors in the TOP...

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Abstract

The present invention belongs to the field of computer application technology. The motor controlling method for opened robot controller includes establishing motor controlling TOPN model for opened robot controller; converting the time constraint condition of the objects into relative time constraint condition for the execution of the whole model; constituting state change maps of TOPN model and deducing and transforming all the objects in TOPN model into time Pelit network form based on the deducing rules of Pelit network; and judging the object behavior consistency in the model by means of the deducing method and theorems of time Pelit network to realize the correct motor control. The present invention can find the demerits in motor control function and performance in advance and this can reduce the development cost of the controller system in opened robot.

Description

technical field [0001] The invention belongs to the field of computer application technology, in particular to a motor control method of an open structure robot controller. Background technique [0002] Industrial robots have been widely used in different fields of industrial control. With the development of robot applications in the field of industrial control, it is required that robot controllers can integrate and expand different application modules under different control requirements. These application modules include different types of motor drive control modules, different types of digital input / output card driver modules, analog / digital signal conversion card driver modules, control algorithm modules, etc. In order to meet this demand for robot controllers in the field of industrial control, the concept of robot controllers with open features has gradually formed. An open robot controller refers to a control system that can integrate different peripheral devices a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J13/00
Inventor 徐华贾培发杨泽红赵雁南王家廞曹亦明
Owner TSINGHUA UNIV