Research on Configurable Modular Motion Control System of Industrial Robot
-
摘要: 针对工业机器人控制系统存在封闭性高,二次开发难度大、结构复杂、技术升级困难等弊端,在保证机器人稳定运行的前提下,基于LinuxCNC设计构建一套可配置工业机器人运动控制系统,通过集成RTAI实时补丁,编写机器人控制算法,对机器人进行实时运动规划。为了验证模块化的系统架构设计可以适应不同机器人系统的运行要求,对工业机器人原型系统样机上进行了验证,根据驱动设备和系统需求,完成NC配置文件和通讯配置文件。通过对实验数据分析和处理,验证了运动控制系统的可行性。Abstract: In view of the existing high closure, difficult secondary development, complex structure, upgrade technology and other defects of industrial robot control system, a configurable modular industry robot motion control system is constructed based on LinuxCNC in this paper. On the premise of ensuring the stable operation of the robot, through the integration of real-time RTAI patch, robot control algorithm is programmed to real-time plan the robot motion control system. In order to verify the modular system architecture design can adapt to the operation requirements of different robot systems, a prototype system of industrial robot is used to verify the effectiveness and feasibility of the robot motion control system. According to the drive equipment and system requirements, the NC configuration file and communication configuration file is completed. The feasibility of the motion control system is verified by analyzing and processing the experimental data.
-
Key words:
- industrial robot /
- configurable /
- modular /
- control system
-
[1] Chen Y H, Dong F H. Robot machining:recent development and future research issues[J]. The International Journal of Advanced Manufacturing Technology, 2013,66(9-12):1489-1497 [2] He X Y, Zielinski C, Davy S, et al. A constrained guess-check approach for resource allocation in the robot control system design[M]//Ding X L, Kong X W, Dai J S. Advances in Reconfigurable Mechanisms and Robots Ⅱ. Cham:Springer, 2016:913-925 [3] 韩瑜,许燕玲,花磊,等.六轴关节机器人系统结构及其关键技术[J].上海交通大学学报,2016,50(10):1521-1525 Han Y, Xu Y L, Hua L, et al. Development and key technology of six axis joint robots[J]. Journal of Shanghai Jiaotong University,2016,50(10):1521-1525(in Chinese) [4] Muratore L, Laurenzi A, Hoffman E M, et al. XBotCore:a real-time cross-robot software platform[C]//Proceedings of IEEE International Conference on Robotic Computing (IRC). Taichung, Taiwan:IEEE, 2017:77-80 [5] 陈友东,陈五一,王田苗.基于组件的开放结构数控系统[J].机械工程学报,2006,42(6):188-192,198 Chen Y D, Chen W Y, Wang T M. Open architecture cnc controller based on the component technology[J]. Chinese Journal of Mechanical Engineering, 2006,42(6):188-191,198(in Chinese) [6] Delgado R, Kim S Y, You B J, et al. An EtherCAT-based real-time motion control system in mobile robot application[C]//Proceedings of the 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI). Xi'an, China:IEEE, 2016:710-715 [7] Erwinski K, Paprocki M, Grzesiak L M, et al. Application of ethernet powerlink for communication in a linux RTAI open CNC system[J]. IEEE Transactions on Industrial Electronics, 2013,60(2):628-636 [8] Li S Z, Lin S W. Research on reconfigurable method of open CNC system software based on linux[J]. Applied Mechanics and Materials, 2014,529:549-553 [9] 高美原,秦现生,白晶,等.基于ROS和LinuxCNC的工业机器人控制系统开发[J].机械制造,2015,53(10):21-24 Gao M Y, Qin X S, Bai J, et al. Development of industrial robot control system based on ROS and LinuxCNC[J]. Mechanical Manufacture, 2015,53(10):21-24(in Chinese) [10] Li J J, Xu X, Tao J G, et al. Interact with robot:an efficient approach based on finite state machine and mouse gesture recognition[C]//Proceedings of the 9th International Conference on Human System Interactions (HSI). Portsmouth, UK:IEEE, 2016:203-208 [11] Conner D C, Willis J. Flexible Navigation:finite state machine-based integrated navigation and control for ROS enabled robots[C]//Proceedings of SoutheastCon 2017. Charlotte, NC:IEEE, 2017:1-8 [12] Hou M X, Jiang L, Liu H, et al. Signal processing for noise and online force modeling detection for a robot hand based on EtherCAT communication[J]. Intelligent Automation & Soft Computing, 2016,22(1):17-31 [13] Lee Y, Lee W, Choi B, et al. Reliable software architecture design with EtherCAT for a rescue robot[C]//Proceedings of 2016 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS). Tokyo, Japan:IEEE, 2016:34-39
点击查看大图
计量
- 文章访问数: 257
- HTML全文浏览量: 39
- PDF下载量: 10
- 被引次数: 0