Hybrid Control Method and System for Multi-Interface Type Servo Drivers of Robots

Abstract

This invention relates to the field of multi-joint robot technology and provides a hybrid control method and system for multi-interface type servo drives for robots. This invention can optimize the configuration of multi-interface type servo drives for multiple joints and multiple additional axes of the robot body to meet the requirements of power balance and model matching, thereby reducing costs and making replacement and maintenance more flexible.

Description

Technical Field

[0001] This invention belongs to the field of multi-joint robot technology, and particularly relates to a hybrid control method and system for robot multi-interface type servo drives. Background Technology

[0002] Currently, in many application fields, articulated robots are beginning to replace manual labor, performing tasks by cooperating with external auxiliary axes. Therefore, it is necessary to connect the servo drives of the external auxiliary axes to the robot control system to achieve collaborative operation.

[0003] In existing technologies, multi-axis robot control systems typically employ only one of two methods: pulse servo or bus servo. Pulse servo controllers use incremental encoders to convert incremental joint angles into counting pulses, with the number of pulses representing the displacement. Bus servo controllers use absolute position encoders, with each position corresponding to a specific digital code. This leads to the incompatibility of additional axis servo drives in many applications, requiring repurchase. Furthermore, for robot joints (e.g., a 6-joint robot), joints 1-3 require higher-power servo drives, while joints 4-6 require lower-power drives. Compared to selecting servo drives with appropriate power for each joint, selecting a one-to-two servo drive configuration and optimizing the power balance between the two joints would significantly reduce robot costs. Moreover, when a robot servo drive fails and needs replacement, if the control system only provides a single servo method or lacks flexibility, it cannot use existing servo drives with other interface types, increasing costs and maintenance cycles. Therefore, we propose a hybrid control method and system for robot servo drives with multiple interface types. Summary of the Invention

[0004] The purpose of this invention is to provide a hybrid control method and system for multi-interface type servo drives of robots, aiming to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A hybrid control method for robot servo drives with multiple interface types includes the following steps:

[0007] S001: Servo drivers with multiple interface types for robot joints and additional axes;

[0008] S002: The robot controller builds a servo driver management module based on the input from the robot teach pendant;

[0009] S003: In each control cycle, the motion control algorithm module in the robot controller generates control data and sends it to the servo drive management module;

[0010] S004: The servo driver management module generates corresponding servo data based on the mapping relationship between the joint and the servo driver, and sends it to the bus master and pulse master respectively;

[0011] S005: After the robot controller obtains the feedback data, the servo driver management module repackages the feedback data and sends it to the motion control algorithm module.

[0012] Furthermore, the control data generated by the motion control algorithm module is an incremental joint angle [a1,a2,a3,...,ax] packaged in the order of robot body joint 1, body joint 2, ..., body joint n, additional axis 1, additional axis 2, ..., additional axis m;

[0013] The servo data sent from the servo driver management module to the pulse master station is the incremental joint angle of the joint using the pulse-type servo driver, which is extracted from the control data, and further generated by the number of pulses [b1,b2,b3,……,by] in the order of the pulse-type servo driver numbers;

[0014] The servo data sent by the servo driver management module to the bus station is the incremental joint angle of the joint using the bus-type servo driver, which is extracted from the control data. It is further generated by encoder values ​​[c1,c2,c3,……,cz] based on the current position of the joint and in the order of the bus-type servo driver numbers.

[0015] Where: n is the number of robot body joints, m is the number of additional axes, y is the number of pulse-type servo drives, z is the number of bus-type servo drives, and x = n + m = y + z.

[0016] Furthermore, the feedback data acquired by the robot controller is the encoder position data returned by all servo drives.

[0017] Furthermore, the repackaging is based on the mapping relationship between joints and servo drives, and is packaged in the order of robot body joint 1, body joint 2, ..., body joint n, additional axis 1, additional axis 2, ..., additional axis m, and sent back to the motion control algorithm module to form a closed-loop control of the motion trajectory.

[0018] A hybrid control system for robot multi-interface servo drives includes a robot teach pendant, a robot controller, a bus master station, a pulse master station, multiple bus-type servo drives, and multiple pulse-type servo drives. The robot teach pendant is connected to the robot controller via a communication interface.

[0019] Furthermore, the robot controller is connected to both a bus master station and a pulse master station. The bus master station is connected to a bus-type servo driver via a bus interface, and the pulse master station is connected to a pulse-type servo driver via a pulse interface.

[0020] Furthermore, the bus master is an EtherCAT bus master, and the bus-type servo driver connected to the bus master is an EtherCAT bus-type servo driver.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] This robot multi-interface type servo drive hybrid control method and system can optimize the configuration of multi-interface type servo drives for multiple joints and multiple additional axes of the robot body to meet the requirements of power balance and model matching, thereby reducing costs and making replacement and maintenance more flexible. Attached Figure Description

[0023] Figure 1 A flowchart illustrating a hybrid control method for multi-interface type servo drives in robots.

[0024] Figure 2 This is a schematic diagram of the framework of a hybrid control system for multi-interface type servo drives for robots.

[0025] Figure 3 This is a schematic diagram of a framework for one embodiment of a hybrid control system for multi-interface type servo drives in a robot.

[0026] Figure 4 This is a schematic diagram of the framework of one embodiment of a hybrid control method for multi-interface type servo drives in a robot.

[0027] Figure 5 This diagram illustrates a hybrid control method for multi-interface servo drives in a robot, and the connection structure of robot joints, additional axes, and servo drives within the system. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0029] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0030] like Figure 1 As shown, a hybrid control method for multi-interface type servo drives of a robot provided in an embodiment of the present invention includes the following steps:

[0031] S001: Servo drivers with multiple interface types for robot joints and additional axes;

[0032] S002: The robot controller builds a servo driver management module based on the input from the robot teach pendant;

[0033] S003: In each control cycle, the motion control algorithm module in the robot controller generates control data and sends it to the servo drive management module;

[0034] S004: The servo driver management module generates corresponding servo data based on the mapping relationship between the joint and the servo driver, and sends it to the bus master and pulse master respectively;

[0035] S005: After the robot controller obtains the feedback data, the servo driver management module repackages the feedback data and sends it to the motion control algorithm module.

[0036] In this embodiment of the invention, in S002, the robot controller constructs a servo driver management module based on the servo driver parameters input on the robot teach pendant and the corresponding joint and additional axis numbers; in S003, in each control cycle, the motion control algorithm module in the robot controller generates control data for robot body joints 1 to n and additional axes, and sends it to the servo driver management module; in S004, the servo driver management module splits and packages the control data according to the mapping relationship between joints and servo drivers to generate corresponding servo data; in S005, after the robot controller obtains feedback data from the bus master station and pulse master station, the servo driver management module repackages the feedback data according to the mapping relationship between joints and servo drivers.

[0037] like Figure 1 As shown, in a preferred embodiment of the present invention, the control data generated by the motion control algorithm module is an incremental joint angle [a1,a2,a3,...,ax] packaged in the order of robot body joint 1, body joint 2, ..., body joint n, additional axis 1, additional axis 2, ..., additional axis m;

[0038] The servo data sent from the servo driver management module to the pulse master station is the incremental joint angle of the joint using the pulse-type servo driver, which is extracted from the control data, and further generated by the number of pulses [b1,b2,b3,……,by] in the order of the pulse-type servo driver numbers;

[0039] The servo data sent by the servo driver management module to the bus station is the incremental joint angle of the joint using the bus-type servo driver, which is extracted from the control data. It is further generated by encoder values ​​[c1,c2,c3,……,cz] based on the current position of the joint and in the order of the bus-type servo driver numbers.

[0040] Where: n is the number of robot body joints, m is the number of additional axes, y is the number of pulse-type servo drives, z is the number of bus-type servo drives, and x = n + m = y + z.

[0041] In this embodiment of the invention, the main function of the servo driver management module is to forward data between the controller and the bus master and pulse master.

[0042] like Figure 1 As shown, in a preferred embodiment of the present invention, the feedback data acquired by the robot controller is the encoder position data returned by all servo drives.

[0043] In this embodiment of the invention, all servo drives include bus-type servo drives and pulse-type servo drives.

[0044] like Figure 1 As shown, in a preferred embodiment of the present invention, the repackaging is carried out according to the mapping relationship between the joints and the servo driver, in the order of robot body joint 1, body joint 2, ..., body joint n, additional axis 1, additional axis 2, ..., additional axis m, and sent back to the motion control algorithm module to form a closed-loop control of the motion trajectory.

[0045] In this embodiment of the invention, the servo driver management module repackages the feedback data according to the mapping relationship between the joint and the servo driver and sends it to the motion control algorithm module.

[0046] like Figure 2 As shown, a robot multi-interface type servo driver hybrid control system provided in one embodiment of the present invention includes a robot teach pendant, a robot controller, a bus master station, a pulse master station, multiple bus-type servo drivers and multiple pulse-type servo drivers. The robot teach pendant is connected to the robot controller through a communication interface.

[0047] In this embodiment of the invention, servo drives with the required interface type are configured for the joints and additional axes of the robot body to meet the requirements of power balancing and model matching. Then, the mapping relationship between each joint and additional axis of the robot and the servo drive is input through the teach pendant to realize the mixed control of servo drives with multiple interface types.

[0048] like Figure 2 As shown in the preferred embodiment of the present invention, the robot controller is connected to both a bus master station and a pulse master station. The bus master station is connected to a bus-type servo driver through a bus interface, and the pulse master station is connected to a pulse-type servo driver through a pulse interface.

[0049] In this embodiment of the invention, the robot controller obtains feedback data from the bus master station and the pulse master station.

[0050] like Figure 3-5 As shown, in a preferred embodiment of the present invention, the bus master is an EtherCAT bus master, and the bus-type servo driver connected to the bus master is an EtherCAT bus-type servo driver.

[0051] In this embodiment of the invention, a 6-joint robot (J1-J6) is used. The robot body is controlled by three identical EtherCAT bus-type servo drives, connected in series to the bus master station. To achieve power balance, the servo motors of joints 1 and 6 are connected to the first servo drive; the servo motors of joints 2 and 5 are connected to the second servo drive; and the servo motors of joints 3 and 4 are connected to the third servo drive. That is, the series-connected servo drives drive servo motors J1, J6, J2, J5, J3, and J4 sequentially. The robot has two external auxiliary axes, JX2 and JX3, whose servo motors are driven by two pulse-type servo drives connected in parallel to the pulse master station. For the implementation of the multi-interface type servo drive hybrid control method, please refer to [link to documentation]. Figure 4 The process includes the following steps: Step S101: Input the servo drive type and number connected to J1-J6, JX1, and JX2 on the teach pendant; Step S102: The robot controller determines the connection relationship between the joints and the servo drives based on the connection relationship between the joints and the servo drives (see...). Figure 5 ), construct the servo driver management module; the main function of the servo driver management module is to forward data between the controller and the bus master station and the pulse master station; Step S103: In each control cycle, the motion control algorithm module in the robot controller packages the incremental joint angles [a1,a2,a3,……,a8] as control data in the order of J1, J2, J3, J4, J5, J6, JX1, JX2 and sends them to the servo driver management module; Step S104: According to the mapping relationship between the joint and the servo driver, the servo driver management module extracts the incremental joint angles [a7,a8] of the additional axis using the pulse type servo driver from the control data, and generates the pulse number [b1] in the order of pulse type servo driver number 1, 2. [b2], packaged into servo control data and sent to the pulse master station; the incremental joint angles [a1,a2,……,a6] of the joints using bus-type servo drives extracted from the control data, based on the encoder values ​​of the current joint position, are generated into encoder values ​​[c1,c6,c2,c5,c3,c4] in the order of bus-type servo drive numbers, packaged into servo control data and sent to the bus master station; Step S105: After the robot controller obtains feedback data from the bus master station and the pulse master station, the servo drive management module repackages the feedback data in the order of J1, J2, J3, J4, J5, J6, JX1, JX2 according to the mapping relationship between the joint and the servo drive, and sends it to the motion control algorithm module.

[0052] The working principle of this invention is:

[0053] This robot multi-interface type servo drive hybrid control method and system allows for the arbitrary configuration of servo drives of the required interface type for the robot's joints and additional axes to meet the requirements of power balance and model matching. Then, by inputting the mapping relationship between each joint, additional axis and servo drive of the robot through a teach pendant, the hybrid control of multi-interface type servo drives can be realized, which can reduce costs and make replacement and maintenance more flexible.

[0054] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent.

Claims

1. A hybrid control method for multi-interface type servo drives of a robot, characterized in that, Includes the following steps: S001: Servo drivers with multiple interface types for robot joints and additional axes; S002: The robot controller builds a servo driver management module based on the input from the robot teach pendant; S003: In each control cycle, the motion control algorithm module in the robot controller generates control data and sends it to the servo drive management module; S004: The servo driver management module generates corresponding servo data based on the mapping relationship between the joint and the servo driver, and sends it to the bus master and pulse master respectively; S005: After the robot controller obtains the feedback data, the servo driver management module repackages the feedback data and sends it to the motion control algorithm module; The control data generated by the motion control algorithm module is an incremental joint angle [a1,a2,a3,...,ax] packaged in the order of robot body joint 1, body joint 2, ..., body joint n, additional axis 1, additional axis 2, ..., additional axis m; The servo data sent from the servo driver management module to the pulse master station is the incremental joint angle of the joint using the pulse-type servo driver, which is extracted from the control data, and further generated by the number of pulses [b1,b2,b3,……,by] in the order of the pulse-type servo driver numbers; The servo data sent by the servo driver management module to the bus station is the incremental joint angle of the joint using the bus-type servo driver, which is extracted from the control data. It is further generated by encoder values ​​[c1,c2,c3,……,cz] based on the current position of the joint and in the order of the bus-type servo driver numbers. Where: n is the number of robot body joints, m is the number of additional axes, y is the number of pulse-type servo drives, z is the number of bus-type servo drives, and x = n + m = y + z.

2. The hybrid control method for multi-interface type servo drives of a robot according to claim 1, characterized in that, The feedback data acquired by the robot controller is the encoder position data returned by all servo drives.

3. The hybrid control method for multi-interface type servo drives of a robot according to claim 1, characterized in that, The repackaging process involves packaging the components according to the mapping relationship between the joints and the servo drivers, following the order of robot body joint 1, body joint 2, ..., body joint n, additional axis 1, additional axis 2, ..., additional axis m, and then sending them back to the motion control algorithm module to form a closed-loop control of the motion trajectory.

4. A hybrid control system for multi-interface type servo drives of a robot, characterized in that, The system is used to implement the hybrid control method for robot multi-interface type servo drives according to any one of claims 1-3. The system includes a robot teach pendant, a robot controller, a bus master station, a pulse master station, multiple bus-type servo drives, and multiple pulse-type servo drives. The robot teach pendant is connected to the robot controller through a communication interface.

5. The robot multi-interface type servo driver hybrid control system according to claim 4, characterized in that, The robot controller is connected to both a bus master station and a pulse master station. The bus master station is connected to a bus-type servo driver via a bus interface, and the pulse master station is connected to a pulse-type servo driver via a pulse interface.

6. The robot multi-interface type servo driver hybrid control system according to claim 5, characterized in that, The bus master is an EtherCAT bus master, and the bus-type servo driver connected to the bus master is an EtherCAT bus-type servo driver.

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