Multi-joint robot and joint motion control system thereof

Abstract

The invention discloses a multi-joint robot and a joint motion control system thereof. The control system comprises a main station, a control system and a control system, the first joint slave station comprises a first controller, a first industrial Ethernet control chip and a first RJ45 connector comprising a first RJ45 interface and a second RJ45 interface, and the first controller, the first RJ45 interface and the second RJ45 interface are electrically connected with the first industrial Ethernet control chip respectively; the second joint slave station comprises a second controller, a second industrial Ethernet control chip and a second RJ45 connector comprising a third RJ45 interface, and the second controller and the third RJ45 interface are electrically connected with the second industrial Ethernet control chip; wherein the main station is electrically connected with the first RJ45 interface, and the second RJ45 interface is electrically connected with the third RJ45 interface. Communication of the multiple joints of the robot is achieved, and therefore the multiple joints are controlled to move.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a multi-joint robot and its joint motion control system. Background Technology

[0002] Multi-joint robots are the most common and flexible type of industrial robots. Their core feature is that they have multiple rotary joints, mimicking the structure of a human arm, and can achieve complex spatial movements within their workspace.

[0003] In the development of multi-joint robots, CAN FD and RS485 are the two main communication methods used in the market. The communication speed of these two methods is relatively low. How to improve the communication speed of each joint of the robot and improve the robot's motion efficiency is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, one object of this invention is to provide a multi-joint robot and its joint motion control system, which enables communication between multiple joints of the robot, thereby controlling the movement of these joints with high efficiency.

[0005] The technical solution adopted in this invention is: In a first aspect, the present invention provides a multi-joint motion control system for a multi-joint robot, comprising: a master station; and multiple joint slave stations, including a first joint slave station and a second joint slave station, each joint slave station including a controller, an industrial Ethernet control chip, and an RJ45 connector; the first joint slave station includes a first controller, a first industrial Ethernet control chip, and a first RJ45 connector, the first RJ45 connector including a first RJ45 interface and a second RJ45 interface, the first controller, the first RJ45 interface, and the second RJ45 interface being electrically connected to the first industrial Ethernet control chip; the second joint slave station includes a second controller, a second industrial Ethernet control chip, and a second RJ45 connector, the second RJ45 connector including a third RJ45 interface, the second controller and the third RJ45 interface being electrically connected to the second industrial Ethernet control chip; wherein the master station is electrically connected to the first RJ45 interface, and the second RJ45 interface is electrically connected to the third RJ45 interface.

[0006] The control command from the master station is sent to the first controller via the first RJ45 interface and the first industrial Ethernet control chip. The first controller controls the movement of the first joint according to the control command. The control command is sent to the second controller via the first controller, the first industrial Ethernet control chip, the second RJ45 interface, the third RJ45 interface, and the second industrial Ethernet control chip. The second controller controls the movement of the second joint according to the control command.

[0007] The second RJ45 connector further includes a fourth RJ45 interface, which is electrically connected to the second industrial Ethernet control chip. The multi-joint motion control system also includes a third joint slave station, which includes a third controller, a third industrial Ethernet control chip, and a third RJ45 connector. The third RJ45 connector includes a fifth RJ45 interface, and the third controller and the fifth RJ45 interface are electrically connected to the third industrial Ethernet control chip. The fourth RJ45 interface is electrically connected to the fifth RJ45 interface.

[0008] The control command is sent to the third controller via the second controller, the second industrial Ethernet control chip, the fourth RJ45 interface, the fifth RJ45 interface, and the third industrial Ethernet control chip. The third controller controls the movement of the third joint according to the control command.

[0009] The controller includes first to sixth output pins for outputting PWM signals. Each joint slave station also includes a three-phase motor drive circuit. Each phase drive circuit includes a half-bridge drive circuit and two MOSFETs. The input terminals of the half-bridge drive circuit are connected to two output pins of the controller, and the two MOSFETs are connected in parallel. The output terminals of the half-bridge drive circuit are connected to the two MOSFETs, and the output terminals of the two MOSFETs are connected to one phase winding of the motor. The output currents of the two MOSFETs are in opposite directions.

[0010] The controller includes a first output pin for outputting a first PWM signal, a second output pin for outputting a second PWM signal, a third output pin for outputting a third PWM signal, a fourth output pin for outputting a fourth PWM signal, a fifth output pin for outputting a fifth PWM signal, and a sixth output pin for outputting a sixth PWM signal. The three-phase motor drive circuit includes a motor U-phase drive circuit, a motor V-phase drive circuit, and a motor W-phase drive circuit. The motor U-phase drive circuit includes a first half-bridge drive circuit, a first high-side MOSFET, and a first low-side MOSFET. The input terminals of the drive circuit are connected to the first output pin and the second output pin, respectively. The first high-side MOSFET and the first low-side MOSFET are connected in parallel. The output terminals of the first half-bridge drive circuit are connected to the first high-side MOSFET and the first low-side MOSFET, respectively. The output terminals of the first high-side MOSFET and the first low-side MOSFET are connected to the U-phase winding of the motor, respectively. The motor V-phase drive circuit includes a second half-bridge drive circuit, a second high-side MOSFET, and a second low-side MOSFET. The input terminals of the second half-bridge drive circuit are connected to the third output pin and the fourth output pin, respectively. The second high-side MOSFET and the second low-side MOSFET are connected in parallel. The output terminal of the second half-bridge drive circuit is connected to the second high-side MOSFET and the second low-side MOSFET, respectively. The output terminals of the second high-side MOSFET and the second low-side MOSFET are connected to the V-phase winding of the motor, respectively. The motor W-phase drive circuit includes a third half-bridge drive circuit, a third high-side MOSFET, and a third low-side MOSFET. The input terminal of the third half-bridge drive circuit is connected to the fifth output pin and the sixth output pin, respectively. The third high-side MOSFET and the third low-side MOSFET... The third half-bridge drive circuit is connected in parallel, with its output terminal connected to the third high-side MOSFET and the third low-side MOSFET respectively. The output terminals of the third high-side MOSFET and the third low-side MOSFET are connected to the W-phase winding of the motor respectively. The output currents of the first high-side MOSFET and the first low-side MOSFET are in opposite directions, as are the output currents of the second high-side MOSFET and the second low-side MOSFET, and the output currents of the third high-side MOSFET and the third low-side MOSFET are in opposite directions.

[0011] The first half-bridge driving circuit includes a first gate driving chip, wherein the first high-side MOSFET and the first low-side MOSFET are both NMOS transistors; the first input pin of the first gate driving chip is connected to the first output pin of the controller, and the second input pin of the first gate driving chip is connected to the second output pin of the controller; the first output pin of the first gate driving chip is connected to the gate of the first high-side MOSFET, and the source of the first high-side MOSFET is connected to the U-phase winding; the second output pin of the first gate driving chip is connected to the gate of the first low-side MOSFET, and the drain of the first low-side MOSFET is connected to the U-phase winding; the source of the first low-side MOSFET is grounded through a resistor.

[0012] The second half-bridge drive circuit includes a second gate drive chip. Both the second high-side MOSFET and the second low-side MOSFET are NMOS transistors. The first input pin of the second gate drive chip is connected to the third output pin of the controller, and the second input pin is connected to the fourth output pin of the controller. The first output pin of the second gate drive chip is connected to the gate of the second high-side MOSFET, and the source of the second high-side MOSFET is connected to the V-phase winding. The second output pin of the second gate drive chip is connected to the gate of the second low-side MOSFET, and the drain of the second low-side MOSFET is connected to the V-phase winding. The source of the second low-side MOSFET is connected to the V-phase winding via a resistor. The third half-bridge drive circuit includes a third gate drive chip, and both the third high-side MOSFET and the third low-side MOSFET are NMOS transistors. The first input pin of the third gate drive chip is connected to the fifth output pin of the controller, and the second input pin of the third gate drive chip is connected to the sixth output pin of the controller. The first output pin of the third gate drive chip is connected to the gate of the third high-side MOSFET, and the source of the third high-side MOSFET is connected to the W-phase winding. The second output pin of the third gate drive chip is connected to the gate of the third low-side MOSFET, and the drain of the third low-side MOSFET is connected to the W-phase winding. The source of the third low-side MOSFET is grounded through a resistor.

[0013] The motor's U-phase drive circuit also includes a U-phase current acquisition circuit, the motor's V-phase drive circuit also includes a V-phase current acquisition circuit, and the motor's W-phase drive circuit also includes a W-phase current acquisition circuit.

[0014] In a second aspect, the present invention provides a multi-joint robot, including the multi-joint motion control system as described above.

[0015] The beneficial effects of this invention are: This invention employs a master station and multiple joint slave stations, with communication between the master station and each joint slave station via an industrial Ethernet control chip. Compared to the existing CAN FD and RS485 communication technologies, this invention can improve the communication rate of each joint of the robot, enhance the robot's motion efficiency, and also avoid signal interference between joints.

[0016] Each joint slave station of this invention also includes a three-phase motor drive circuit (U-phase, V-phase, and W-phase) and a motor. Each phase motor drive circuit includes a half-bridge drive circuit and two parallel MOSFETs. The half-bridge drive circuit is positioned between the MCU and the two MOSFETs. The output terminals of the two MOSFETs are respectively connected to one phase winding of the motor, and the output currents of the two MOSFETs are in opposite directions. By controlling the forward or reverse rotation of the motor through this three-phase motor drive circuit, the universality of the motor drive for each joint of the humanoid robot is achieved, thereby saving hardware costs. Attached Figure Description

[0017] Figure 1 This is a structural block diagram of an embodiment of the multi-joint motion control system for the multi-joint robot of the present invention; Figure 2 yes Figure 1 A schematic diagram of the circuit structure of an embodiment of the controller; Figure 3 yes Figure 1 A schematic diagram of the circuit structure of an embodiment of an industrial Ethernet control chip; Figure 4 This is a structural block diagram of another embodiment of the multi-joint motion control system for the multi-joint robot of the present invention; Figure 5 This is a structural block diagram of another embodiment of the multi-joint motion control system for the multi-joint robot of the present invention; Figure 6 yes Figure 5 A block diagram of one embodiment of a motor drive circuit; Figure 7 yes Figure 6 A circuit diagram of one embodiment of the first half-bridge drive circuit; Figure 8 yes Figure 6 A partial circuit diagram of one embodiment of the U-phase drive circuit for a medium-sized motor; Figure 9 yes Figure 6 Another part of the circuit diagram of an embodiment of the U-phase drive circuit for a medium-sized motor; Figure 10 yes Figure 6 A schematic diagram of the working structure of one embodiment. Detailed Implementation

[0018] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0019] Example 1

[0020] Please see Figure 1 , Figure 1 This is a structural block diagram of an embodiment of the multi-joint motion control system for the multi-joint robot of the present invention. (See diagram below.) Figure 1 As shown, the multi-joint motion control system includes a master station, a first joint slave station, and a second joint slave station.

[0021] The first slave station includes a first controller, a first industrial Ethernet control chip, and a first RJ45 connector, which includes a first RJ45 interface and a second RJ45 interface. The first controller, the first RJ45 interface, and the second RJ45 interface are electrically connected to the first industrial Ethernet control chip.

[0022] The second joint slave station includes a second controller, a second industrial Ethernet control chip, and a second RJ45 connector. The second RJ45 connector includes a third RJ45 interface. The second controller and the third RJ45 interface are electrically connected to the second industrial Ethernet control chip, respectively.

[0023] The main station is electrically connected to the first RJ45 interface, and the second RJ45 interface is electrically connected to the third RJ45 interface.

[0024] The first controller, the second controller, and the third controller are all MCUs. Please refer to [link / reference]. Figure 2 Preferably, the first controller, the second controller, and the third controller are all STM32H743VGT6.

[0025] Please see Figure 3 Preferably, both the first industrial Ethernet control chip and the second industrial Ethernet control chip are of the LAN9253-I-R4X model.

[0026] The working method of this invention is as follows: The control commands from the master station are sent to the first controller via the first RJ45 interface and the first industrial Ethernet control chip. The first controller controls the movement of the first joint according to the control commands. The control command is sent to the second controller via the first controller, the first industrial Ethernet control chip, the second RJ45 interface, the third RJ45 interface, and the second industrial Ethernet control chip. The second controller controls the movement of the second joint according to the control command.

[0027] Example 2

[0028] Please see Figure 4 , Figure 4 This is a structural block diagram of an embodiment of the multi-joint motion control system for the multi-joint robot of the present invention. (See diagram below.) Figure 4 As shown, the multi-joint motion control system includes a master station, a first joint slave station, a second joint slave station, and a third joint slave station.

[0029] The first slave station includes a first controller, a first industrial Ethernet control chip, and a first RJ45 connector, which includes a first RJ45 interface and a second RJ45 interface. The first controller, the first RJ45 interface, and the second RJ45 interface are electrically connected to the first industrial Ethernet control chip.

[0030] The second joint slave station includes a second controller, a second industrial Ethernet control chip, and a second RJ45 connector. The second RJ45 connector includes a third RJ45 interface and a fourth RJ45 interface. The second controller, the third RJ45 interface, and the fourth RJ45 interface are electrically connected to the second industrial Ethernet control chip, respectively.

[0031] The third joint slave station includes a third controller, a third industrial Ethernet control chip, and a third RJ45 connector. The third RJ45 connector includes a fifth RJ45 interface. The third controller and the fifth RJ45 interface are electrically connected to the third industrial Ethernet control chip, respectively.

[0032] The main station is electrically connected to the first RJ45 interface, the second RJ45 interface is electrically connected to the third RJ45 interface, and the fourth RJ45 interface is electrically connected to the fifth RJ45 interface.

[0033] The first controller, the second controller, and the third controller are all controllers. Preferably, the controller is an STM32H743VGT6.

[0034] The working method of this invention is as follows: The control commands from the master station are sent to the first controller via the first RJ45 interface and the first industrial Ethernet control chip. The first controller controls the movement of the first joint according to the control commands. The control command is sent to the second controller via the first controller, the first industrial Ethernet control chip, the second RJ45 interface, the third RJ45 interface, and the second industrial Ethernet control chip. The second controller controls the movement of the second joint according to the control command. The control command is sent to the third controller via the second controller, the second industrial Ethernet control chip, the fourth RJ45 interface, the fifth RJ45 interface, and the third industrial Ethernet control chip. The third controller controls the movement of the third joint according to the control command.

[0035] In other embodiments, it may also include four joint slave stations, five joint slave stations, or more joint slave stations.

[0036] Example 3

[0037] Please refer to the following: Figures 5 to 10 .like Figure 5 As shown, Figure 5 and Figure 1 The difference is that each joint slave station also includes: a motor U-phase drive circuit, a motor V-phase drive circuit, a motor W-phase drive circuit, and a motor (not shown in the figure).

[0038] The input terminals of the motor U-phase drive circuit, the motor V-phase drive circuit, and the motor W-phase drive circuit are respectively connected to the MCU. The output terminal of the motor U-phase drive circuit is connected to the U-phase winding of the motor, the output terminal of the motor V-phase drive circuit is connected to the V-phase winding of the motor, and the output terminal of the motor W-phase drive circuit is connected to the W-phase winding of the motor. The motor U-phase drive circuit, the motor V-phase drive circuit, and the motor W-phase drive circuit work simultaneously to drive the motor to rotate forward or in reverse.

[0039] Specifically, such as Figure 6 As shown, the motor drive circuit includes a motor U-phase drive circuit, a motor V-phase drive circuit, and a motor W-phase drive circuit.

[0040] The motor is a brushless DC motor.

[0041] The MCU includes a first output pin for outputting a first PWM signal, a second output pin for outputting a second PWM signal, a third output pin for outputting a third PWM signal, a fourth output pin for outputting a fourth PWM signal, a fifth output pin for outputting a fifth PWM signal, and a sixth output pin for outputting a sixth PWM signal.

[0042] The motor U-phase drive circuit includes a first half-bridge drive circuit, a first high-side MOSFET, and a first low-side MOSFET. The input terminal of the first half-bridge drive circuit is connected to the first output pin and the second output pin, respectively. The first high-side MOSFET and the first low-side MOSFET are connected in parallel. The output terminal of the first half-bridge drive circuit is connected to the first high-side MOSFET and the first low-side MOSFET, respectively. The output terminals of the first high-side MOSFET and the first low-side MOSFET are connected to the U-phase winding of the motor.

[0043] The motor V-phase drive circuit includes a second half-bridge drive circuit, a second high-side MOSFET, and a second low-side MOSFET. The input terminals of the second half-bridge drive circuit are connected to the third and fourth output pins, respectively. The second high-side MOSFET and the second low-side MOSFET are connected in parallel. The output terminals of the second half-bridge drive circuit are connected to the second high-side MOSFET and the second low-side MOSFET, respectively. The output terminals of the second high-side MOSFET and the second low-side MOSFET are connected to the V-phase winding of the motor.

[0044] The motor W-phase drive circuit includes a third half-bridge drive circuit, a third high-side MOSFET, and a third low-side MOSFET. The input terminals of the third half-bridge drive circuit are connected to the fifth and sixth output pins, respectively. The third high-side MOSFET and the third low-side MOSFET are connected in parallel. The output terminals of the third half-bridge drive circuit are connected to the third high-side MOSFET and the third low-side MOSFET, respectively. The output terminals of the third high-side MOSFET and the third low-side MOSFET are connected to the W-phase winding of the motor.

[0045] Specifically, the output currents of the first high-side MOSFET and the first low-side MOSFET are in opposite directions; the output currents of the second high-side MOSFET and the second low-side MOSFET are in opposite directions; and the output currents of the third high-side MOSFET and the third low-side MOSFET are in opposite directions. The motor U-phase drive circuit, the motor V-phase drive circuit, and the motor W-phase drive circuit operate simultaneously to drive the motor to rotate forward or in reverse.

[0046] The circuit structures of the motor U-phase drive circuit, motor V-phase drive circuit, and motor W-phase drive circuit described above are identical. The following description uses the motor U-phase drive circuit as an example to illustrate the motor drive circuit of this invention.

[0047] Please refer to the following: Figures 7 to 9 ,like Figures 7 to 9 As shown, the first half-bridge driving circuit includes a first gate driving chip. Preferably, the first gate driving chip is of model MP1924AHR_LF, and both the first high-side MOSFET and the first low-side MOSFET are NMOS transistors.

[0048] like Figure 7 As shown, the first input pin INH of the first gate driver chip is connected to the first output pin MCU_PWMUP of the MCU, and the second input pin INL of the first gate driver chip is connected to the second output pin MCU_PWMUN of the MCU.

[0049] like Figure 8As shown, the first output pin DRV_GHU of the first gate driver chip is connected to the gate of the first high-side MOSFET, and the source of the first high-side MOSFET is connected to the current input pin U_MOTOR of the U-phase winding. The second output pin DRV_GLU of the first gate driver chip is connected to the gate of the first low-side MOSFET, and the drain of the first low-side MOSFET is connected to the current input pin U_MOTOR of the U-phase winding. The source of the first low-side MOSFET is grounded through a resistor.

[0050] like Figure 8 and Figure 9 As shown, the motor U-phase drive circuit also includes a U-phase current acquisition circuit, which includes a first current detection amplifier. Preferably, the first current detection amplifier is an INA185A1IDRLR. The input terminal IU_SENSOR of the first current detection amplifier is connected to the source of the first low-side MOSFET, and the output terminal of the first current detection amplifier is connected to the first input pin CU_U of the MCU.

[0051] It is worth noting that the parameters of the first high-side MOSFET, the first low-side MOSFET, the second high-side MOSFET, the second low-side MOSFET, the third high-side MOSFET, and the third low-side MOSFET are adjustable. By adjusting the parameters of the MOSFETs, the input current of the motor can be adjusted to adapt to different joints.

[0052] Please see Figure 10 ,like Figure 10 As shown, Q1 is the first high-side MOSFET connected to the U-phase winding, Q2 is the first low-side MOSFET connected to the U-phase winding, Q3 is the second high-side MOSFET connected to the V-phase winding, Q4 is the second low-side MOSFET connected to the V-phase winding, Q5 is the third high-side MOSFET connected to the W-phase winding, and Q6 is the third low-side MOSFET connected to the W-phase winding.

[0053] The working method of this embodiment is as follows: To achieve forward rotation of the motor, assuming Q1 and Q4 are turned on first, while the others are turned off, the current will flow from Q1 through the U-phase winding, then from the V-phase winding to Q4, thus completing the first step of forward rotation. Similarly, Q5Q4, Q5Q2, Q3Q2, Q3Q6, and Q1Q6 are turned on sequentially to complete the remaining steps of forward rotation. In other words, the high-side MOSFET Q1 of the U-phase is turned on, the low-side MOSFET Q4 of the V-phase is turned on, and then the high-side MOSFET Q5 of the W-phase is turned on, and the low-side MOSFET Q4 of the V-phase is turned on in turn. This alternating MOSFET switching between each pair of phases allows current to flow between them, which is then converted into a magnetic field that drives the brushless motor rotor to rotate, completing one revolution of the motor. In other embodiments, it may also be assumed that other groups of MOSFETs, such as Q5Q2 or Q3Q6, are turned on first.

[0054] To achieve motor reverse rotation, firstly, assume that Q5 and Q4 are turned on while the others are off. Current will flow from Q5 through the W-phase winding, then from the V-phase winding to Q4, completing the first step of reverse rotation. Similarly, Q1Q4, Q1Q6, Q3Q6, Q3Q2, and Q5Q2 are turned on sequentially to complete the remaining steps of reverse rotation. That is, the high-side MOSFET Q5 of phase W is turned on, the low-side MOSFET Q4 of phase V is turned on, then the high-side MOSFET Q1 of phase U is turned on, and the low-side MOSFET Q4 of phase V is turned on in turn. This alternating MOSFET switching between each pair of phases allows current to flow between them, which is then converted into a magnetic field that drives the brushless motor rotor to rotate, completing one revolution of reverse rotation. In other embodiments, it is also possible to assume that other groups of MOSFETs, such as Q1Q6 or Q3Q2, are turned on first.

[0055] Example 4

[0056] The present invention also provides a multi-joint robot, which includes a multi-joint motion control system as described in Embodiment 1, Embodiment 2, or Embodiment 3.

[0057] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A multi-joint motion control system for a multi-joint robot, characterized in that, include: Main site; Multiple joint slave stations, including a first joint slave station and a second joint slave station, each joint slave station includes a controller, an industrial Ethernet control chip and an RJ45 connector; The first joint slave station includes a first controller, a first industrial Ethernet control chip, and a first RJ45 connector. The first RJ45 connector includes a first RJ45 interface and a second RJ45 interface. The first controller, the first RJ45 interface, and the second RJ45 interface are electrically connected to the first industrial Ethernet control chip, respectively. The second joint slave station includes a second controller, a second industrial Ethernet control chip, and a second RJ45 connector. The second RJ45 connector includes a third RJ45 interface. The second controller and the third RJ45 interface are electrically connected to the second industrial Ethernet control chip, respectively. The main station is electrically connected to the first RJ45 interface, and the second RJ45 interface is electrically connected to the third RJ45 interface.

2. The multi-joint motion control system according to claim 1, characterized in that, The control commands from the master station are sent to the first controller via the first RJ45 interface and the first industrial Ethernet control chip. The first controller controls the movement of the first joint according to the control commands. The control command is sent to the second controller via the first controller, the first industrial Ethernet control chip, the second RJ45 interface, the third RJ45 interface, and the second industrial Ethernet control chip. The second controller controls the movement of the second joint according to the control command.

3. The multi-joint motion control system according to claim 2, characterized in that, The second RJ45 connector also includes a fourth RJ45 interface, which is electrically connected to the second industrial Ethernet control chip. The multi-joint motion control system further includes a third joint slave station, which includes a third controller, a third industrial Ethernet control chip, and a third RJ45 connector. The third RJ45 connector includes a fifth RJ45 interface. The third controller and the fifth RJ45 interface are electrically connected to the third industrial Ethernet control chip, respectively. The fourth RJ45 interface is electrically connected to the fifth RJ45 interface.

4. The multi-joint motion control system according to claim 3, characterized in that, The control command is sent to the third controller via the second controller, the second industrial Ethernet control chip, the fourth RJ45 interface, the fifth RJ45 interface, and the third industrial Ethernet control chip. The third controller controls the movement of the third joint according to the control command.

5. The multi-joint motion control system according to any one of claims 1 to 4, characterized in that, The controller includes first to sixth output pins for outputting PWM signals; Each joint slave station also includes a three-phase motor drive circuit. Each phase of the motor drive circuit includes a half-bridge drive circuit and two MOSFETs. The input terminal of the half-bridge drive circuit is connected to two output pins of the controller, the two MOSFETs are connected in parallel, the output terminal of the half-bridge drive circuit is connected to the two MOSFETs, and the output terminal of the two MOSFETs is connected to one phase winding of the motor. The two MOS transistors output currents in opposite directions.

6. The multi-joint motion control system according to claim 5, characterized in that, The controller includes a first output pin for outputting a first PWM signal, a second output pin for outputting a second PWM signal, a third output pin for outputting a third PWM signal, a fourth output pin for outputting a fourth PWM signal, a fifth output pin for outputting a fifth PWM signal, and a sixth output pin for outputting a sixth PWM signal. The three-phase drive circuit for the motor includes a U-phase drive circuit, a V-phase drive circuit, and a W-phase drive circuit. The motor U-phase drive circuit includes a first half-bridge drive circuit, a first high-side MOSFET, and a first low-side MOSFET. The input terminal of the first half-bridge drive circuit is connected to the first output pin and the second output pin, respectively. The first high-side MOSFET and the first low-side MOSFET are connected in parallel. The output terminal of the first half-bridge drive circuit is connected to the first high-side MOSFET and the first low-side MOSFET, respectively. The output terminals of the first high-side MOSFET and the first low-side MOSFET are connected to the U-phase winding of the motor, respectively. The motor V-phase drive circuit includes a second half-bridge drive circuit, a second high-side MOSFET, and a second low-side MOSFET. The input terminal of the second half-bridge drive circuit is connected to the third output pin and the fourth output pin, respectively. The second high-side MOSFET and the second low-side MOSFET are connected in parallel. The output terminal of the second half-bridge drive circuit is connected to the second high-side MOSFET and the second low-side MOSFET, respectively. The output terminals of the second high-side MOSFET and the second low-side MOSFET are connected to the V-phase winding of the motor, respectively. The motor W-phase drive circuit includes a third half-bridge drive circuit, a third high-side MOSFET, and a third low-side MOSFET. The input terminal of the third half-bridge drive circuit is connected to the fifth output pin and the sixth output pin, respectively. The third high-side MOSFET and the third low-side MOSFET are connected in parallel. The output terminal of the third half-bridge drive circuit is connected to the third high-side MOSFET and the third low-side MOSFET, respectively. The output terminals of the third high-side MOSFET and the third low-side MOSFET are connected to the W-phase winding of the motor, respectively. Specifically, the output currents of the first high-side MOSFET and the first low-side MOSFET are in opposite directions, the output currents of the second high-side MOSFET and the second low-side MOSFET are in opposite directions, and the output currents of the third high-side MOSFET and the third low-side MOSFET are in opposite directions.

7. The multi-joint motion control system according to claim 6, characterized in that, The first half-bridge driving circuit includes a first gate driving chip, wherein the first high-side MOSFET and the first low-side MOSFET are both NMOS transistors; the first input pin of the first gate driving chip is connected to the first output pin of the controller, and the second input pin of the first gate driving chip is connected to the second output pin of the controller; the first output pin of the first gate driving chip is connected to the gate of the first high-side MOSFET, and the source of the first high-side MOSFET is connected to the U-phase winding; the second output pin of the first gate driving chip is connected to the gate of the first low-side MOSFET, the drain of the first low-side MOSFET is connected to the U-phase winding, and the source of the first low-side MOSFET is grounded through a resistor.

8. The multi-joint motion control system according to claim 7, characterized in that, The second half-bridge drive circuit includes a second gate drive chip, where both the second high-side MOSFET and the second low-side MOSFET are NMOS transistors; the first input pin of the second gate drive chip is connected to the third output pin of the controller, and the second input pin of the second gate drive chip is connected to the fourth output pin of the controller; the first output pin of the second gate drive chip is connected to the gate of the second high-side MOSFET, and the source of the second high-side MOSFET is connected to the V-phase winding; the second output pin of the second gate drive chip is connected to the gate of the second low-side MOSFET, and the drain of the second low-side MOSFET is connected to the V-phase winding; the source of the second low-side MOSFET is grounded through a resistor. The third half-bridge driving circuit includes a third gate driving chip, and both the third high-side MOS transistor and the third low-side MOS transistor are NMOS transistors; The first input pin of the third gate driver chip is connected to the fifth output pin of the controller, and the second input pin of the third gate driver chip is connected to the sixth output pin of the controller. The first output pin of the third gate driver chip is connected to the gate of the third high-side MOSFET, and the source of the third high-side MOSFET is connected to the W-phase winding. The second output pin of the third gate driver chip is connected to the gate of the third low-side MOSFET, and the drain of the third low-side MOSFET is connected to the W-phase winding. The source of the third low-side MOSFET is grounded through a resistor.

9. The multi-joint motion control system according to claim 5, characterized in that, The motor U-phase drive circuit further includes a U-phase current acquisition circuit, the motor V-phase drive circuit further includes a V-phase current acquisition circuit, and the motor W-phase drive circuit further includes a W-phase current acquisition circuit.

10. A multi-joint robot, characterized in that, The multi-joint motion control system as described in any one of claims 1 to 9.

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