CN104903800A - Motion controller and robot control system using the same - Google Patents
Motion controller and robot control system using the same Download PDFInfo
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- CN104903800A CN104903800A CN201380069454.8A CN201380069454A CN104903800A CN 104903800 A CN104903800 A CN 104903800A CN 201380069454 A CN201380069454 A CN 201380069454A CN 104903800 A CN104903800 A CN 104903800A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4148—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using several processors for different functions, distributed (real-time) systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33076—Optimize time by parallel execution of independent blocks by two processors
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33104—Tasks, functions are distributed over different cpu
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33116—Configuration of motion control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34208—Motion controller
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34287—Plc and motion controller combined
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34403—RTI real time, kernel, processing
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40498—Architecture, integration of planner and motion controller
Abstract
A motion controller and a robot control system using the same are provided. The motion controller (2) includes: an information sharing means (21), being adapted for sharing data representing at least one piece of information; a plurality of function modules (204, 205, 206, 207), being adapted for exchanging the information between at least two of them by accessing the data through the information sharing means (21) and respectively carrying out a plurality of functions in parallel based on the exchanged information; wherein: the function module receiving the exchanged information is adapted to carry out the function based on the received exchanged information independently of the functions that are simultaneously carried out by the other function modules (204, 205, 206, 207); the plurality of function modules (204, 205, 206, 207) share at least one processor or programmable logic (20) having a multiple of computing units (200, 201, 202, 203); and the plurality of function modules (204, 205, 206,.207) are respectively implemented by means of the computing units (200, 201, 202, 203) of the processor or on the programmable logic (20). This causes at least one of the disadvantages as below: a relatively low degree of real-time behavior of the motion controller due to lack of parallel processing of data; a relatively high degree of difficulty in integration of new program instructions in the processor of the motion controller; the computing power of the processor of the motion controller is fixed and is not scalable; and the computing power of the processor of the motion controller cannot be used to its maximum.
Description
Technical field
The present invention relates to the robot control system field of motion controller and this motion controller of use, and particularly relate to the motion controller using FPGA (Field Programmable Gate Array) to realize and the robot controller using this motion controller.
Background technology
In traditional motion controller, processing unit is responsible for process control and logic control.Figure 1A shows the framework of the motion controller for robot.As shown in Figure 1, motion controller 1 comprises processor 10, and processor 10 only has one to read the computing unit with execution of program instructions.Such as, the programmed instruction performed by a computing unit of processor 10 has at least two functions, that is, logic control 100 and motion control 101.Such as, process or motion control 101 execution route planning function, and logic control 100 performs the function of response external signal (at least responding most important signal (such as safety signal)).Logic control 100 and motion control 101 are performed by a computing unit of processor 10, so can there is conflict between both.Therefore, even if or processor must have the worst may the computing power of also not lossing signal in situation, or the heavy part of calculating must be fulfiled ahead of schedule.The shortcoming of this scheme is insufficient to the response of external signal.Figure 1B shows the shaft-driven structure of standard list of machine in normal service robot system.Low power components is positioned at the left side of separator, and high-power component is positioned at right side.Due to the important devices that motor drive is in robot control system, therefore improve this technology, and there is the chip of integrated other functions (such as AD converter), DSP or CPU, thus necessary solution is provided.For need the multiaxis of the interface of more computing powers and greater number drive situation become more complicated.
This causes at least one in following shortcoming:
1, owing to lacking parallel data processing, cause the real-time levels of the behavior of motion controller relatively low;
2, difficulty new procedures instruction be integrated in the processor of motion controller is relatively high;
3, the computing power of the processor of motion controller is fixing and is not extendible; And
4, the computing power of the processor of motion controller can not maximally be used.
Summary of the invention
Therefore, the object of this invention is to provide the robot control system of a kind of motion controller and this motion control of use.Motion controller comprises: information sharing apparatus and multiple functional module.Information sharing apparatus is applicable to the data of shared expression at least one information; Multiple functional module be applicable to by use information sharing apparatus visit data in case wherein between at least two exchange information and based on exchange information carry out the multiple function of executed in parallel respectively; Wherein: the functional module of the information that reception exchanges is suitable for the exchange information and executing function based on receiving, independent of the function that other functional modules perform simultaneously; Multiple functional module shares at least one processor or FPGA (Field Programmable Gate Array) with multiple computing unit; And processor or computing unit in FPGA (Field Programmable Gate Array) realize multiple functional module respectively.
Control system also comprise be applicable to measuring robots system state outer locator, driver element and be suitable for drived unit drive the robot with motor.
By having the configuration of above-mentioned motion controller, it brings at least one in following technical advantage:
1, due to the computation capability of the computing unit of motion controller, motion controller has remarkable real-time behavior;
2, due to the independent programmed instruction performed, can easily integrated functional module;
3, the extensible architecture of motion controller is performed according to the quantity of computing unit;
4, because max calculation ability can be used, so can effectively use FPGA (Field Programmable Gate Array)/processor.
Accompanying drawing explanation
With reference to the preferred exemplary embodiment shown in accompanying drawing, theme of the present invention will be illustrated in greater detail hereinafter, wherein:
Figure 1A shows the framework of the motion controller for robot;
Figure 1B shows the shaft-driven structure of standard list of machine in normal service robot system;
Fig. 2 A and Fig. 2 B shows the motion controller according to the embodiment of the present invention;
Fig. 3 A shows motion controller according to another embodiment of the present invention;
Fig. 3 B shows motion controller according to another embodiment of the present invention; And
Fig. 4 shows the schematic diagram of expression robot control system according to another embodiment of the present invention.
In reference numerals list, the Reference numeral and implication thereof that use in accompanying drawing is listed with simple and clear form.In principle, in the drawings, same parts employs identical Reference numeral.
Embodiment
Fig. 2 A and Fig. 2 B shows motion controller according to an embodiment of the invention.As shown in Figure 2 A and 2 B, motion controller 2 comprises FPGA (Field Programmable Gate Array) 20.FPGA (Field Programmable Gate Array) can be field programmable gate array (FPGA) or special IC (ASIC).Generally speaking, except ASIC is more powerful and larger than FPGA, but its exploitation is also more expensive and outside can not being reprogrammed, the functional similarity of FPGA and ASIC.FPGA (Field Programmable Gate Array) 20 has multiple computing unit, such as, and two computing units 200,203 as shown in Figure 2 A, or four computing units 200,201,202,203 as shown in Figure 2 B.Computing unit is logical block for performing a function and is used as to build block in FPGA (Field Programmable Gate Array) 20.Computing unit is the clearly defined parts of system, and it independently and utilize private resource to provide necessary calculating in the clearly defined period.For multi-core central processing unit (CPU), it can be combination or a core of several core and other available resourcess; For FPGA (Field Programmable Gate Array), it can be combination or a soft processor (IP kernel) of several soft processor or IP kernel.The scheduled justice of computing unit 200,201,202,203 becomes to realize multiple functional module 204,205,206,207.Such as, functional module 205 has the motion control feature of the electric motor movement for controlling the first robot; Functional module 206 has the motion control feature of the electric motor movement for controlling the second robot; Functional module 207 has the motion control feature of the electric motor movement for controlling the 3rd robot; Functional module 204 is the logic controls controlled for robotary: the function controlling motion-control module 205 as shown in Figure 2 A or motion-control module 205,206,207 as shown in Figure 2 B based on new robotary information.Predefined computing unit 200,201,202 and 203 all can be obtained from the supplier of FPGA (Field Programmable Gate Array) or developer self.Such as, supplier or developer can use PC to carry out the instruction of programming realization functional module 204,205,206 and 207, and to download instruction from PC, and carry out line to each in computing unit 200,201,202,203 respectively.Therefore, the computing unit 200,201,202,203 of FPGA (Field Programmable Gate Array) 2 passed through programming predefine before its startup optimization.The quantity of computing unit is determined according to user's request (such as, wishing the function quantity performed).
Because computing unit 200,201 as shown in Figure 2 A or computing unit 200,201,202,203 are as shown in Figure 2 B split in FPGA (Field Programmable Gate Array) 20, therefore can the functional module 204,205 as shown in Figure 2 A that realized by it of executed in parallel or functional module 204,205,206,207 as shown in Figure 2 B.In order to the object of the cooperation of functional module 204,205 as shown in Figure 2 A or functional module 204,205,206,207 as shown in Figure 2 B, these functional modules need to exchange information based on pending function.Motion controller 2 also comprises information sharing apparatus 21, its for shared expression by by any two data of at least one information exchanged in functional module 204,205,206,207.Functional module 204,205,206,207 can by information sharing apparatus 21 visit data and respectively based on the information executed in parallel function exchanged.
Alternative method uses the processor with multiple computing unit substituting FPGA (Field Programmable Gate Array).
Information sharing apparatus 21 can be the storer shared among functional module 204,205,206,207.Storer can be external, programmable chip 20 or on-chip memory, and if necessary, the logical block of programmable chip 20 may be used for realizing information sharing apparatus 21.Relative to on-chip memory, external memory storage advantageously volume is larger, and cost is lower.But external memory storage is slower than on-chip memory when responding.Programmable chip 20 is intercomed by bus mutually with storer 21.
By having the configuration of above-mentioned motion control, it brings at least one in following technical advantage:
1, due to the computation capability of the computing unit of motion controller, motion controller has remarkable real-time behavior;
2, due to its programmed instruction of independent operating, can easily integrated functional module;
3, the extensible architecture of motion controller is performed according to computing unit quantity; And
4, owing to can use its max calculation ability when instruction performs completely, so can effectively use FPGA (Field Programmable Gate Array)/processor.
Fig. 3 A shows motion controller according to another embodiment of the present invention.As shown in Figure 3A, motion controller 3 comprises FPGA (Field Programmable Gate Array) 30.FPGA (Field Programmable Gate Array) 30 has multiple computing unit, such as, and three computing units 300,301,302.Computing unit is logical block for n-back test and is used as the structure block in FPGA (Field Programmable Gate Array) 30.Computing unit 300,301,302 predefine becomes to realize multiple functional module 304,305,306, such as, functional module 305 is provided for the motion control of the electric motor movement of control first robot, functional module 306 is at other functional modules and external unit (such as, external detector and driver element) between the IO control module of communication, functional module 304 is logic controls of function of the path clustering motion-control module 305 for robot path planning and based on planning.Computing unit 300,301,302 can be obtained from FPGA (Field Programmable Gate Array) supplier or developer self.Such as, supplier or developer can both use PC to carry out the instruction of programming realization functional module 304,305,306, and to download instruction from PC, and carry out line to each of computing unit 300,301,302 respectively.Therefore, the computing unit 300,301,302 of FPGA (Field Programmable Gate Array) passes through the scheduled justice of programming before its startup optimization.The quantity of computing unit is determined according to the requirement (the function quantity such as, performed as required) of operator.
Motion controller 3 also comprises information sharing apparatus 31, the data of its at least one information exchanged at least two in shared expression functional module 304,305,306.Functional module 304,305,306 can by use information sharing apparatus 31 visit data and based on the information exchanged executed in parallel function respectively.Information can wish to reach about the joint position of robot of robot system states and robotary, robot system or the electro-motor of speed or robot reference pose, speed and torque.Logic control module 304 is applicable to the controlling functions of the function based on the Article 1 information and executing motion-control module 305 about robot system states, and the new engine people state of at least one robot of robot system is set, and passes through information sharing apparatus 31 using new engine people status information as Article 2 information sharing; Such as, whether robot system states exists obstacle about in robot system on the road of advancing of robot, and robotary wishes the target location of arrival about the robot when considering robot system states; Due to the different situations of robot system states, desired robotary correspondingly changes relative to current robot system state and current robot state (being referred to as new engine robot system state and new engine people state).Motion-control module 305 is applicable to access Article 2 information by information sharing apparatus 31, and at least one serial joint position is set based at least one joint being combined into the robot of robot system of Article 2 information and robotic's feature, and passes through information sharing apparatus 31 using joint position information as Article 3 information sharing; The route that a series of joint position should be arrived by joint of robot on a series of time point forms; By arranging each joint of robot position series, obtain the path planning for this robot, and this also goes for the other robot run in robot system.Motion-control module 305 may be used for Article 3 information to send to external unit, and or logical control module 304 may be used for reading Article 3 information by information sharing apparatus and sending it to external unit.IO control module 306 is applicable to perform the Article 1 information about robot system states inputting and detected by external detector, and share Article 1 information by information sharing apparatus 31 and access Article 3 information by information sharing apparatus 31, and Article 3 information is exported to the function of external unit (another motion controller) of the robot for robot system.
Fig. 3 B shows motion controller according to another embodiment of the present invention.Motion controller 3 as shown in Figure 3 B has parts with motion controller 3 as shown in Figure 3A.As shown in Figure 3 B, FPGA (Field Programmable Gate Array) 30 also comprises computing unit 303, and its predefine becomes practical function module 307.Functional module 307 uses the mechanism similar with motion-control module 305 to control the motion control of the electric motor movement of the second robot.The path planning task of the different machines people in robot system can distribute to different motion control module 305,307.
Because computing unit 300,301,302,303 is split in FPGA (Field Programmable Gate Array) 30, therefore can its functional module 304,305,306,307 realized of parallel work-flow.In order to the object that functional module 304,305,306,307 cooperates, they need to exchange information based on pending function.
By having the configuration of above-mentioned motion control, it brings at least one in following technical advantage:
1, due to the computation capability of the computing unit of motion controller, motion controller has remarkable real-time behavior;
2, its programmed instruction is performed due to independent, can easily integrated functional module;
3, the extensible architecture of motion controller is performed according to computing unit quantity;
4, due to its max calculation ability can be used, so can effectively use FPGA (Field Programmable Gate Array)/processor.
Standard servo driver is so a kind of equipment: receive reference data from high-order controller, calculates necessary electric current and exports, and control power electronic equipment and provide electric current to motor to obtain the asked output from motor.Output can be arrange speed, position or specify torque.In order to provide functional, servo-driver needs the low-power logic digital unit of calculating and the logic control comprised for system, high-power digital for power switched transistor and metering circuit feedback simulates hydrid component, and the interface for communicating with at least two equipment (such as, high-order controller and position transducer).For multiaxis driver, many times need in conjunction with several computing element and need a large amount of devices.Such as, we use the computer board being referred to as axle computing machine (Axis Computer), and it has a CPU, a DSP and FPGA.In addition, it utilizes FPGA to communicate with the control panel in driver element, and FPGA comprises the necessary logic for logic control, diagnosis and measurement.
Fig. 4 shows the schematic diagram of expression robot control system according to another embodiment of the present invention.As shown in Figure 4, motion controller 4 comprises FPGA (Field Programmable Gate Array) 40.FPGA (Field Programmable Gate Array) 40 has multiple functional module, such as, and four functional modules 400,401,402,403.Computing unit is logical block for n-back test and is used as the structure block in FPGA (Field Programmable Gate Array) 40.Computing unit 404,405,406,407 is for realizing multiple functional module 400,401,402,403; Such as, the Article 1 information relevant to the joint position that at least one series at least one joint of the robot of robot system is wished is shared by information sharing apparatus (communication channel), functional module 402 is position control module, it is applicable to the current location in the joint receiving robot and it is compared with corresponding hope joint position, and will be used for reducing the adjusted value of difference therebetween as Article 2 information sharing by information sharing apparatus; Second functional module 401 is current control module, and it is applicable to based on Article 1 information is that joint motor arranges phase current values.Functional module 403 is the communication modules for communication between functional module and external unit (such as external detector and driver element).It should be understood that motion controller 4 can by other computing units and other module integrations.Use soft processor, many computing unit systems on sheet can be obtained and segmenting system different local system clock can be used.
In enforcement, be that functional module 400,401,402,403 is divided into according to the embodiment of Fig. 4 and the different of the embodiment according to Fig. 2 A, Fig. 2 B, Fig. 3 A or Fig. 3 B and communicate with one another and the local function module of executing tasks parallelly.These unit can be have home bus system, control local IP kernel or control directly to be write as the soft processor of the computing unit of larger IP kernel.Each IP kernel being connected to a unit performs particular task and can be connected to a hardware, and the interface between hardware and software opened by this hardware.
Referring again to Fig. 4, at least one in functional module 400,401,402,403 comprises: local information sharing means 4000,4010,4030, and is applicable to the local multiple local function modules sharing data.Local information sharing means is used for the data that an expression robot information is shared in each functional module 400,401,402,403 this locality.Local function module is used for by using local information sharing means visit data at least wherein to exchange information between two, and based on the information multiple local function of executed in parallel respectively exchanged.The local function module of the information that reception exchanges is suitable for the local function independent of being performed by other local function modules simultaneously, based on the exchange information and executing local function received; And make purpose processor or computing unit 404,405,406,407 in FPGA (Field Programmable Gate Array) 40 a part realizes multiple local function module respectively.
Such as, functional module 403 also comprise local information sharing means 4030 and for ... the first local functional module 4031, for with other robot controller ... second local function module 4032 of communication, and for data analysis ... the 3rd local function module 4033.Three the local computing unit 4061,4062,4063 be made up of computing unit 406 realize the first local functional module 4031, second local function module 4032 and the 3rd local function module 4033.Local information sharing means 4000,4010,4030,4030 can be the storer shared among local function module.Storer can be external, programmable chip or on-chip memory, and if be necessary, the logical block of programmable chip can distribute to the unit of storer.Programmable chip is intercomed by bus mutually with storer.
The system be arranged on FPGA can on-the-spotly simply upgrade.This allows us to provide same hardware for function and interface widely, and without the need to making it overload with the software do not used.Especially, for drive system, the interface to controller is determined by user's preferences.The most attractive scheme based on Ethernet, but has Different Logic.Such as, original Ethernet (Raw Ethernet), but real-time ethernet communications protocol (EtherCAT), Ethernet/IP, high-speed industrial Ethernet (PowerLink), can use based on the robotization bus standard (Profinet) of industrial Ethernet technology require Different Logic and software in same hardware.This can provide easily by having slightly different system, and these systems can be downloaded to FPGA as requested.Similarly, the motor of selection determines the type of scrambler and communication protocol.Use said system, agreement can be changed in a simple manner decoupled and use same hardware to support different agreement.
Although describe the present invention based on some preferred embodiments, those skilled in the art should understand that these embodiments never limit the scope of the invention.When not deviating from spirit of the present invention and design, therefore any distortion of embodiment and amendment all in the understanding of the personnel and those skilled in the art with general knowledge, and should fall in the scope of the present invention of claims restriction.
Claims (11)
1. a motion controller, comprising:
Information sharing apparatus, is applicable to the data of shared expression at least one information;
Multiple functional module, is applicable to by using described information sharing apparatus to access described data so that exchange information between at least two wherein, and carrys out the multiple function of executed in parallel respectively based on the information exchanged;
Wherein:
The functional module receiving the information of described exchange is applicable to function described in the information and executing based on the exchange received, and it is independent of the function performed by other functional modules simultaneously;
Described multiple functional module shares at least one processor or FPGA (Field Programmable Gate Array) with multiple computing unit; And
The computing unit of described processor or described FPGA (Field Programmable Gate Array) realizes described multiple functional module respectively.
2. motion controller according to claim 1, wherein:
Described information sharing apparatus is the storer shared in multiple described functional module.
3. motion controller according to claim 1, wherein:
Described at least one, functional module comprises:
Local information sharing means, is applicable to the local data sharing expression at least one information;
Multiple local function module, is applicable to by using described local information sharing means to access described data so that exchange information between at least two wherein, and based on the information multiple function of executed in parallel respectively exchanged;
Wherein:
The local function module receiving the information of described exchange is applicable to the information and executing local function of the exchange based on reception, and it is independent of the local function performed by other local function modules simultaneously;
Local computing unit as a part for described computing unit realizes described multiple local function module respectively.
4. motion controller according to claim 1, wherein:
Article 1, information is relevant to new engine robot system state;
First functional module is Logic control module, is applicable to the new engine people state of at least one robot arranging robot system, and by described information sharing apparatus using the information of described new engine people state as Article 2 information sharing.
5. motion controller according to claim 4, wherein:
Second functional module is motion-control module, at least one joint being applicable to the robot that the combination based on the mechanical features of described Article 2 information and robot is robot system arranges at least one serial joint position, and by described information sharing apparatus using the information of joint position as Article 3 information sharing.
6. motion controller according to claim 5, wherein:
Described first functional module is also applicable to read described Article 3 information by described information sharing apparatus and send it to external unit.
7. motion controller according to claim 5, wherein:
Described second module is also applicable to described Article 3 information to send to external unit.
8. motion controller according to claim 1, wherein:
Described information sharing apparatus shares the Article 1 information relevant to the joint position that at least one series at least one joint of the robot of robot system is wished;
Described first functional module is position control module, be applicable to the physical location in the joint receiving described robot and it is compared with corresponding hope joint position, and will the adjusted value of the difference reduced between both being used for as Article 2 information sharing by described information sharing apparatus;
Described second functional module is current control module, and being applicable to based on described Article 2 information is that joint motor arranges phase current values.
9. motion controller according to claim 1, wherein:
Described first functional module is IO control module; And
Described IO control module is applicable to perform the described Article 1 information of input, is accessed described Article 2 information by described information sharing apparatus and exports the function of described Article 2 information.
10. comprise the robot control system wanting the motion controller of 4-7 wherein described in one according to right, also comprise:
External detector, is applicable to detect described robot system states;
Driver element; And
Described robot has by the motor of described drive unit drives.
11. 1 kinds of robot control systems comprising motion controller according to claim 10, also comprise:
Have another robot of another motor, another motor described is by described drive unit drives.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2013/070581 WO2014110748A1 (en) | 2013-01-17 | 2013-01-17 | Motion controller and robot control system using the same |
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| CN104903800A true CN104903800A (en) | 2015-09-09 |
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| EP (1) | EP2946253A4 (en) |
| CN (1) | CN104903800A (en) |
| WO (1) | WO2014110748A1 (en) |
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| CN108052063A (en) * | 2017-12-18 | 2018-05-18 | 珠海格力节能环保制冷技术研究中心有限公司 | Control system, control chip and robot |
| CN109240191A (en) * | 2018-04-25 | 2019-01-18 | 上海福赛特控制技术有限公司 | The controller and control system of integrated motion control and motor control |
| WO2019218324A1 (en) * | 2018-05-17 | 2019-11-21 | 深圳配天智能技术研究院有限公司 | Encoder, driver and controller for robot and robot |
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Also Published As
| Publication number | Publication date |
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| EP2946253A1 (en) | 2015-11-25 |
| WO2014110748A1 (en) | 2014-07-24 |
| EP2946253A4 (en) | 2016-10-12 |
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