What is a robot control system?
If only Sierra Leoneans Sugardaddy has feelingsSierra Leoneans Sugardaddy官Sierra Leone Sugar Daddy and muscles, human limbs are still unable to move. On the one hand, it is because SL Escorts no. has no organs to receive and process the electronic information from the senses; on the other hand, Sierra Leone Sugar Daddy On the one hand, it is also because there are no organs to send out neuroelectronic signals to drive muscles to compress or relax. Similarly, if the robot only has sensors and actuators, the robotic arm cannot work normally. The reason is that the electronic signal input by the sensor has no effect, and the driving motor cannot get the driving voltage and current. Therefore, the robot needs a controller, which uses hardware and software to form a complete control system.
The function of the robot control system is to receive the detection electronic signal from the sensor, and drive each motor in the robot arm according to the requirements of the operating task. Just like our movements rely on our own senses, the robot’s Movement control is inseparable from sensors. Robots need sensors to detect various conditions. The robot’s external sensor electronic signals are used to reflect the actual movement of the robot arm joints, and the robot’s internal sensor electronic signals are used to detect changes in the conditions surrounding the task.
Therefore, the combination of the robot’s nerves and brain can form a complete robot control system.
What aspects does the robot’s motion control system include?
Actuator —- servo motor or stepper motor;
Driving mechanism —- servo or stepper driver;
Controlling mechanism —- movable controller, linking the path and motor Algorithmic operation control;
Control method —- If there is a fixed execution method, then program the fixed parameters for the motion controller;
If there is a visual system or other sensors, according to the sensor electronics For signals, program a program with no fixed parameters for the motion controller.
Basic functions of the robot control system
1. Control the movement position of the end actuator of the robot arm (that is, control the points and changing position paths of the end actuator);
2. Control the moving posture of the robotic arm (that is, control the relative positions of two adjacent moving components) Sierra Leoneans Escort;
3. Control the movement speed (that is, control the law of the movement position of the final executor changing over time);
4. Control the movement acceleration (that is, control the speed change of the final executor during the movement);
5. Control the input torque of each power joint in the robotic arm: (that is, control the force exerted on the operating object);
6. It has human-computer interaction functions that are easy to operate. The robot completes the prescribed tasks through memory and reproduction. Task;
7. Enable the robot to detect and sense the internal and surrounding conditionsSierra Leoneans Escort. Industrial robots are equipped with vision, force, tactile and other sensors to measure and identify changes in operating conditions.
Industrial robot control system
1. Hardware structure of industrial robot control system
The controller is the core of the robot system, and relevant foreign companies have implemented strict restrictions on my country. In recent years, with the development of microelectronics technology, the performance of microprocessors has become higher and higher, and the price has become cheaper and cheaper. Currently, 32-bit microprocessors costing 1-2 US dollars have appeared on the market. Cost-effective microprocessors have brought new development opportunities to mechanical SL Escorts human controllers, enabling the development of low-cost, high-performance Robotic controllers become possible. In order to ensure that the system has sufficient computing and storage capabilities, currentlyRobot controllers are mostly composed of ARM series, DSP series, POWERPC series, Intel series and other chips with strong computing capabilities.
In addition, because the existing general-purpose chips cannot fully meet the price, performance, integration and interface requirements of some robot systems in terms of performance and performance, this has resulted in the robot system’s need for SoC ( Systemon Chip) technology needs, integrating specific processors and required interfaces into one circuit, which can simplify the system core Circuit design reduces system size and costs.
For example, Actel integrates the NEOS or ARM7 processor core into its FPGA products to form a complete SoC system. In terms of robot motion controllers, its research mainly focuses on Sierra Leoneans Escort the United States and Japan (Japan), and has mature products. Such as the American DELTATAU Company Sierra Leone Sugar, Japan (Japan) Pengli Co., Ltd., etc. Its motion controller takes DSP technology as the core and adopts a PC-based open architecture.
2. System structure of industrial robot control system
In terms of the structure of the controller system, the research focus is on the standardization of function division and information exchange between functions. In terms of open controller system structure research, there are two basic structures. One is the structure based on hardware level division. This type of structure is relatively simple. In Japan (Japan), the system structure is divided based on hardware, such as MitsubishiSierra Leoneans SugardaddySierra Leoneans Sugardaddy Heavy Industry Co., Ltd. has launched its PA210 portable universal smart phone Sierra Leoneans SugardaddyThe structure of the arm-type robot is divided into five layers; the other is a structure based on function division, which considers software and hardware together, which is a study on the structure of the robot controller system and direction of growth.
3. Control the environment surrounding software development
In terms of the environment surrounding robot software development, generally industrial robot companies have their own independent development environment and independent robot programming languages, such as japan (Japan) Motoman Company, German KUSL EscortsKA Company, American Adept Company, Swedish ABB Company, etc.
Many universities have done a lot of research work on the robot development environment (Robot Development Environment), providing a lot of open source code that can be integrated and controlled under some robot hardware structures. It is currently available in Many related experiments were conducted in the environment around the laboratory. InternationalSL EscortsInternationalSierra Leoneans Sugardaddy The existing situations surrounding robot system development include Team Bots, v.2.0e, ASL EscortsRIA, V.2.4.1, Player/Stage, v.1.6.5.1.6.2, Pyro.v.4.6.0, CARMEN.v.1.1.1, Mission Lab.v.6.0, ADE.V.1.0beta, Miro.v.CVS-March17. 2006, MARIE.V.0.4.0, Flow Designer.v.0.9.0, Robot Flow.v.0.2.6, etc.
From the perspective of the development of the robot industry, there are two needs for the situation surrounding robot software development. On the one hand, it comes from the end users of robots. They not only use robots, but also hope to give robots more functions through programming. This kind of programming is often completed using visual programming languagesSierra Leone Sugar Daddy‘s, such as the graphical programming environment of Lego Mind Storms NXT and the visual programming environment provided by Microsoft Robotics Studio.
4. Robot-specific operating system
(1) VxWorksSierra Leoneans Escort, VxWorks operating system is the American WinSierra Leone Sugar Daddyd River Company designed and developed an embedded real-time operating system (RTOS) in 1983, which is a key component of the environment surrounding Tornado embedded development. VxWorks has a scalable microkernel structure; efficient task management; flexible inter-task communication; microsecond-level interrupt processing; supports POSIX1003.1b real-time expansion standards; supports multiple physical media and standard, complete TCP/IP network protocols, etc. .
(2) Windows CE, Windows CE has good compatibility with the Windows series, which is undoubtedly a major advantage of the promotion of Windows CE. Windows CE provides dynamic applications and services for handheld devices and wireless devices. Sierra Leoneans Sugardaddy A feature-rich operating system platform that runs on a variety of processor system architectures and is generally suitable for those with high memory requirements Devices that occupy a certain amount of space.
(3) Embedded Linux, because its source code is open, people can modify it at will to meet their own applications. Most of them are subject to GPL and are open source code. It doesn’t cost anything. It can be used in users’ own systems with slight modifications. There is no need for a dedicated developer team. Talents only need to understand Unix/Linux and C languages. Embedded Linux and embedded Linux support a lot. /a> There is no real difference between Linux and Linux. Almost all hardware used on PCs is supported by embedded Linux, and the driver source code for various hardware SL Escorts can be obtained, which brings great convenience for users to write their own proprietary hardware drivers
(4) μC/OS-Ⅱ, μC/OS-Ⅱ is a well-known open source code. The real-time kernel is specially designed for embedded applications and can be used in 8-bit, 16-bit and 32-bit microcontrollers or digital electronic signal processors (DSP). Its main features are open source code, good portability and curability. , tailorability, preemptive core, determinability, etc.
(5) DSP/BIOS, DSP/BIOS is specially designed by TI.A scalable real-time multi-tasking operating system core designed and developed by TMS320C6000TM, TMS320Sierra Leone Sugar DaddyC5000TM and TMS320C28xTM series DSP platforms. It is one of the components of TI’s CodeComposerStudioTM development tool. DSP/BIOS is mainly composed of three parts: multi-threaded real-time kernel; real-time analysis tools; chip support library. Using real-time operating system development programs, complex DSP programs can be developed conveniently and quickly.
5. Robot servo communication bus technology
At present, there is no servo communication bus specifically used in robot systems in the world. In the actual application process, some commonly used buses, such as Ethernet, are usually used according to system requirements. Network, CAN, 1394, SERCOS, USB, RS-485, etc. are used in robot systems. Most current communication control buses can be summarized into two categories, namely serial bus technology based on RS-485 and line driver technology and high-speed serial bus technology based on real-time industrial Ethernet.
Intelligent robot control system
1. Open modular control system system structure: using distributed CPU computer structure, divided into robot controller (RC), motion controller (MC), photoelectric isolation I/O control board, sensor processing board and programming teaching box, etc. The robot controller (RC) and the programming teaching box communicate through the serial port/CAN bus. The main computer of the robot controller (RC) completes the robot’s motion planning, interpolation and position servo as well as main control logic, digital I/O, sensor processing and other functions, while the programming teaching box completes the display of information and the control of buttons. output.
2. Modular and hierarchical controller software system: The software system is built on the real-time multi-task operating system LiSL EscortsNux adopts layered and modular structure design to realize the openness of the software system. The entire controller software system is divided into three levels: hardware driver layer, core layer and application layer. The three levels face different performance requirements and correspond to the development of different levels. Each level in the system is composed of several modules with relatively consistent functions. These function modules cooperate with each otherSierra Leone Sugar works together to achieve the functions provided by this level.
3. Robot fault diagnosis and safety maintenance technology: Diagnosing robot faults through various information and carrying out corresponding maintenance is to ensure the smooth operation of the robot.Key skills for safety.
4. Networked robot controller technology: The current robot application project is from a single robot workstation to Sierra Leone Sugar DaddyThe line of robot births is developing, and the networking technology of robot controllers is becoming more and more important. The controller has serial port, fieldbus and Ethernet networking capabilities. It can be used for communication between robot controllers and between the robot controller and the host computer to facilitate monitoring, diagnosis and management of the robot’s birth line.
發佈留言